110 lines
4.5 KiB
Markdown
110 lines
4.5 KiB
Markdown
# <img src="./imgs/hexapod-logo.svg" alt="logo" width="64"/> Hexapod
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A Hexapod Robot using Raspberry Pi Zero W
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## Introduction
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This is a hexapod robot based on [Smallp Tsai](https://github.com/SmallpTsai)'s [hexapod-v2-7697](https://github.com/SmallpTsai/hexapod-v2-7697) project.
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This project reused most of the mechanism design in the original project, but with a totally redesign on the circuits and softwares.
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The table below shows the difference between this project and the original one.
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| | Original hexapod-v2-7697 | This project |
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| --------------- | ------------------------ | ----------------------------------------------- |
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| Controller | Linkit 7697 | Raspberry Pi Zero W or Raspberry Pi Zero W 2 |
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| PWM control | Custom circuit board | 2 x PCA9685 motor driver boards |
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| DC-DC | 7 x mini360 modules | 2 x XL4005 5A Max DC-DC modules and 1 x mini360 |
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| Power | 2S Lipo battery | 2 x 18650 batteries |
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| Remote | BLE | WiFi |
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| Remote software | Android and iOS | PC, Android (WIP) |
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## Mechanism
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### Bill of Materials
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#### Servo - MG92B
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Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!).
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An hexapod requires 18 of them.
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> The dimension of 3d printed part is highly depended on servo's dimension.<br>
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> Modification is required if you want to use other alternative servo.
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> TowerPro MG92B can be found on Ebay seller [servohorns959](https://www.ebay.com/usr/servohorns959), which is listed on TowerPro official website ([Link] (http://www.towerpro.com.tw/about-us-2/)). <br>I also got mime servo from him.
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#### 3D-Printed Parts
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##### Body x 1
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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body_top |  | 1 |
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body_bottom |  | 1 |
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body_center |  | 1 |
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body_side_wall |  | 2 |
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body_back_wall |  | 1 |
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##### Leg x 6
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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thigh_top |  | 1 (x6) |
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thigh_bottom |  | 1 (x6) |
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joint_cross |  | 1 (x6) |
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joint_top |  | 2 (x6) |
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joint_bottom |  | 2 (x6) |
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leg_top |  | 1 (x6) |
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let_bottom |  | 1 (x6) |
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foot_top |  | 1 (x6) |
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foot_bottom |  | 1 (x6) |
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foot_ground |  | 1 (x6) |
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foot_tip |  | 1 (x6) |
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#### Others
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Name | Spec | Thumbnail | Required | Note
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---- | ---- | --------- | -------- | ----
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Screw | M2 6mm |  | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6
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Screw | M2 10mm |  | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18
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Screw | M2 30mm |  | 36 | Servo: 2 x 18
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Nuts | M2 |  | 36 | Servo: 2 x 18
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Pin (304) | M4 6mm |  | 18 | Servo: 1 x 18
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### Leg Assemble
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Please check [Leg Assemble](LEG.md) for more detail instructions
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Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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> Note. Total 6 Legs are required.
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## Skill requirement
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If you want to make one hexapod by yourself. You should at least knows how to:
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* Mechanism part
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* Use `3D printer` to print a model.
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* Able to adjust 3D model to fit your custom need.
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* Electronics
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* Make a `PCB` (suggest to use professional PCB services)
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* Soldering `SMD` component (0805 and TSSOP28)
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* How to use/charge/store `LIPO batteries`
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* Software
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* Use `Linkit 7697` (ie. upload and run any program)
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* Use `LRemote` to communicate 7697 and your mobile phone
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## Table of Content
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1. [Mechanism](mechanism/) - How to build the body
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1. [Electronics](electronics/) - Circuit explanation
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1. [Software](software/) - The software running on Linkit 7697
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