Hexapod

A Hexapod Robot using Raspberry Pi Zero W

Introduction

This is a hexapod robot based on Smallp Tsai's hexapod-v2-7697 project. This project reused most of the mechanism design in the original project, but with a totally redesign on the circuits and softwares. The table below shows the difference between this project and the original one.

	Original hexapod-v2-7697	This project
Controller	Linkit 7697	Raspberry Pi Zero W or Raspberry Pi Zero W 2
PWM control	Custom circuit board	2 x PCA9685 motor driver boards
DC-DC	7 x mini360 modules	2 x XL4005 5A Max DC-DC modules and 1 x mini360
Power	2S Lipo battery	2 x 18650 batteries
Remote	BLE	WiFi
Remote software	Android and iOS	PC, Android (WIP)

Mechanism

Bill of Materials

Servo - MG92B

Servo is the key component. I use TowerPro MG92B. It has metal gear (important!). An hexapod requires 18 of them.

The dimension of 3d printed part is highly depended on servo's dimension. Modification is required if you want to use other alternative servo.

3D-Printed Parts

Body x 1

Filename	Thumbnail	Required
body_top		1
body_bottom		1
body_center		1
body_side_wall		2
body_back_wall		1

Leg x 6

Filename	Thumbnail	Required
thigh_top		1 (x6)
thigh_bottom		1 (x6)
joint_cross		1 (x6)
joint_top		2 (x6)
joint_bottom		2 (x6)
leg_top		1 (x6)
let_bottom		1 (x6)
foot_top		1 (x6)
foot_bottom		1 (x6)
foot_ground		1 (x6)
foot_tip		1 (x6)

Others

Name	Spec	Thumbnail	Required	Note
Screw	M2 6mm		54	Servo Arm: 1 x 18 Joint: 4 x 6 Thigh: 2 x 6
Screw	M2 10mm		24	Thigh: 1 x 6 Pin lock: 1 x 18
Screw	M2 30mm		36	Servo: 2 x 18
Nuts	M2		36	Servo: 2 x 18
Pin (304)	M4 6mm		18	Servo: 1 x 18

Leg Assemble

Please check Leg Assemble for more detail instructions

Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.

Note. Total 6 Legs are required.

Skill requirement

If you want to make one hexapod by yourself. You should at least knows how to:

• Mechanism part
  • Use 3D printer to print a model.
  • Able to adjust 3D model to fit your custom need.
• Electronics
  • Make a PCB (suggest to use professional PCB services)
  • Soldering SMD component (0805 and TSSOP28)
  • How to use/charge/store LIPO batteries
• Software
  • Use Linkit 7697 (ie. upload and run any program)
  • Use LRemote to communicate 7697 and your mobile phone

Table of Content

1. Mechanism - How to build the body
2. Electronics - Circuit explanation
3. Software - The software running on Linkit 7697