Project files

Hardware Documentation

PCB design and mechanical structure of the hexapod robot. See the hardware section in ../STATUS.md for hardware interface descriptions.

PCB (v2, 2026-09)

• pcb/source/ — LCEDA Professional Edition project (schematic + PCB)
• pcb/schematic.pdf — Schematic PDF (can be previewed directly in the browser)
• pcb/board/gerber/ — Gerber files (zipped, ready for direct upload to JLCPCB)
• pcb/board/assembly/ — BOM + pick-and-place files (for SMT assembly)

Design highlights:

• 2S 18650 direct power supply for servo rail (2× AO4407A gate control, powered off by default on power-up)
• VBAT input with SMBJ18A + SMBJ12A across each MOSFET
• I2C bus TVS + series resistors for BNO055 stub + current limiting for VDD
• Battery voltage divider (330k+47k) connected to GP28 ADC2 For background on the protection design, see STATUS.md “Circuit Protection Recommendations.”

Bill of Materials (BOM)

• bom/hexapod_bom.md — Complete project BOM (including purchase links, clickable on web pages)
• bom/hexapod_bom.csv — Identical data (links are URLs for program processing)

Mechanical Structure

• mechanical/hexapod.step — Complete assembly of the robot (18× dual-axis servos version)
• Low-cost 3D-printed alternative frame: see the root directory README under "Frame"

To be completed

• Board 3D render / photo (pcb/images/)
• 3D printed parts STL
• Wiring diagram / assembly instructions (docs/)

License

The firmware is licensed under GPLv3 (LICENSE in the root directory). PCB and mechanical files are recommended to be licensed under CERN-OHL-S 2.0 / CC-BY-SA 4.0 (hardware designs are not subject to GPL).