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Hexapod v2 (Linkit 7697)

A six-legged hexapod robot with 18 servo joints, controlled from a mobile phone over Bluetooth Low Energy by a Linkit 7697 board.

  • Other
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @SmallpTsai (opens in a new tab), from github.com/SmallpTsai/hexapod-v2-7697 (opens in a new tab). Pinned to commit 32d5391 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
GPL-3.0-only (opens in a new tab)
Software license
GPL-3.0-only (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

Hexapod v2 (Linkit 7697), photo from its repository
Photo:@SmallpTsai (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)

3D preview converted from github.com/SmallpTsai/hexapod-v2-7697 at 32d5391, under GPL-3.0-only. View the original files from GitHub (9.9 MB) (opens in a new tab)

Power
7.4 V

What it can do

Written by Robotheca from the project's documents.

  • Remote-controlled hexapod robot that moves forward, backward, turns and rotates, operated from a phone over Bluetooth Low Energy.
  • Six legs with three joints each, driven by 18 servo motors (TowerPro MG92B).
  • Calibration mode lets the user adjust each servo so it aligns to center, entered by pressing the user button just after power-on.
  • Gait path points are generated by a Python tool and included in the robot firmware as a header.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @SmallpTsai (README.md), under GPL-3.0-only.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Linkit 7697 microcontroller board, which handles Bluetooth control.
  • 18 TowerPro MG92B servo motors, three per leg.
  • Two NXP PCA9685 PWM driver chips to supply the servo control signals.
  • Seven mini360 DC-DC step-down regulators: one provides 5V to the Linkit 7697, six provide 6V to the legs.
  • 2S LiPo battery (7.4V) as the power source.
  • Custom main and sub PCBs designed in Eagle 7.7.

Connections

  • The Linkit 7697 controls the two PCA9685 boards over I2C.
  • Each sub PCB carries one PCA9685; the sub PCBs differ by an I2C address jumper (SJ1), closed on the left board and left open on the right.
  • Each mini360 regulator powers three servos of one leg at 6V.
  • One mini360 regulator steps the battery voltage down to 5V for the Linkit 7697.