Saturday, 11 July 2020

Spherical Quadruped Robot

Based on Greg06 Spherical Quadruped Arduino-Robot

This one I have re-drawn so that I can print it easier and I have added Bluetooth control.
Also modified it so that the gaps are smaller.

I have had no time to write it up yet. (lazy)
If you have a go at making it, and need more info, please ask questions in the comments below.
I will update as needed.

So at the moment I have just uploaded the STL files to print the parts.
If you load All into a 3D CAD program like FreeCAD it will load them in there correct place.

Here is a few pictures to show some print orientation.

A few pictures to show Electrics placement.

Screws I use to fix the parts together are: M1.7 x 6mm Pan Head Flat Tail Self Tapping Screws.

The servos (10 required) are the cheap SG90 9G Micro Gear Servo.
If you can afford it, go for some with carbon or metal gears.

The sonar module is the cheaper US-026 Ultrasonic Module.
The distance between the TX and RX Sensors are different to the HC-SR04 module.

The Bluetooth Module needs a data voltage converter. (3v-5v)

Used a Mini-360 MP2307 DC-DC Step Down Buck to step down

Used a cheap CH340G Nano V3.0 ATmega328 for the controller.

Used a PCA9685 16 Channel 12-bit PWM Servo motor Driver I2C to control the servos and LED's.

Used 20 x 3mm LED's. Red, Yellow, Blue, Green, White.

Batteries used are 2 x 3.7v 1200mA LiPo Batteries

I use plastic Cake Pops Sticks when making hinges and the like.
The size I have are 3.5mm dia. x 150mm long.

Used a LM2596 DC-DC module for dropping voltage to the servos.

Used single 2.54mm 0.1" Headers for making connections

More pictures:


Here are a few videos I made while making it:

I still need to add:
Wiring diagram.
The code for the Arduino.
The program for Android Phone.

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