Project files

Py-Apple Structure Open-Source Quadruped Robot Structure

1 Introduction

An open-source mechanical structure project for quadruped robots that can be used with the Py-Apple Controller controller and the Py-Apple Dynamics quadruped control software. Currently, it includes two configurations of robotic dogs (serial legs/parallel legs), both of which can perfectly adapt to existing open-source programs. The mechanical structure has been validated through long-term production, ensuring stability and ease of assembly.

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2 Components of the Pineapple Open-Source Quadruped Robot Project

You are currently browsing one of the sub-projects of the Pineapple Open-Source Quadruped Robot Project (opens in a new tab): the Pineapple Open-Source Quadruped Mechanical Structure (Py-Apple Structure) on GitHub. The Pineapple Open-Source Quadruped Robot Project is a large-scale, comprehensive open-source quadruped robot project. It consists of three main sub-projects:

• Py-Apple Dynamics Series: Open-Source Quadruped Control Software (opens in a new tab)
• Py-Apple Controller Series: Open-Source Universal Quadruped Controller (opens in a new tab)
• Py-Apple Structure Series: Open-Source Quadruped Mechanical Structure (this project)

3 User Support and Discussion Forums

• User support QQ group (Desktop-level quadruped robot dog exchange group PY PY DOG): 1071643412
• Discussion forum (Robot Dog Workshop): http://www.leggedrobot.cn/forum.php?mod=forumdisplay&fid=44 (opens in a new tab)

4 Py-Apple Structure Project Setup Method

• Step 1: Download the mechanical structure you need (serial leg/parallel leg) from this GitHub repository based on your intended use and requirements.
• Step 2: The project provides editable STP files and STL files ready for 3D printing. You can choose to modify these files or directly print the entire robot.
• Step 3: Purchase the corresponding mechanical components according to the mechanical parts list in the relevant mechanical structure.
• Step 3: Follow Tutorial 1 (opens in a new tab), Tutorial 2 (opens in a new tab), and Tutorial 3 (opens in a new tab) to install the latest quadruped robot mechanical structure by combining the three videos.
• Step 4: Install electronic control components and flash the program. Refer to the instructions in the Py-Apple Controller Project GitHub (opens in a new tab) and Py-Apple Dynamics Project GitHub (opens in a new tab) for specific methods.

5 Open-source Development Information

• Py-Apple Structure GitHub repository: https://github.com/ToanTech/py-apple-structure (opens in a new tab)
• Pineapple Dog open-source quadruped robot project developer communication QQ group: 960502665

6 Py-Apple Structure Contributors

• View the list of contributors

7 How to Join the Py-Apple Structure Open-Source Project Development Team

• The Py-Apple Structure project is open-source, and we encourage participation in modifying and contributing new mechanical structures: Click to view the guide on contributing to the Py-Apple Structure GitHub repository (opens in a new tab)
• Feature ideas and bugs can be posted to the Issue list: Click to visit ISSUE LIST (opens in a new tab)
• For other participation-related questions, contact the project managers and contributors: Click to view contact information

8 Features of the Current Py-Apple Structure Version

The latest version is Py-Apple Structure V10.0

8.1 Py-Apple Structure V10.0 Serial Legs (Pineapple 2nd Gen)

• Refined and stable mechanical structure, validated through multiple production cycles
• More durable
• Three-section body assembly for quick and easy installation
• Quick and easy leg assembly
• Major visual redesign compared to V7.0, aligning with modern quadruped robot trends

8.2 Py-Apple Structure V7.0 Serial Legs

• Improved and stable mechanical structure, validated through multiple production cycles, supports thigh bearing installation, enhancing the overall strength and rigidity of the moving components.
• More durable
• Three-section body installation for quick and easy setup
• Quick and easy leg installation
• Appearance inspired by MIT Cheetah

8.3 Py-Apple Structure V7.0 Serial Leg

• Improved and stable mechanical structure, validated through multiple production cycles, supports thigh bearing installation, enhancing the overall strength and rigidity of the moving parts.
• More durable
• Appearance inspired by Stanford Doggo

8.4 Py-Apple Structure Brushless Version V0.1 Leg Design

• Brushless parallel leg structure for the test version
• Uses Ipower 4008 brushless motor

8.5 Misaka version Pineapple compatible structure

• Based on the first-generation Pineapple, an improved ultra-lightweight carbon-fiber Pineapple Dog mechanical structure