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ZGPS-01

A transformable robot that switches between a spherical rolling mode and a hexapod walking mode.

  • Other
  • Open source
  • 3D printable

Suggested by Robotheca, created by @ZGPS-666 (opens in a new tab), from github.com/ZGPS-666/ZGPS_01 (opens in a new tab). Pinned to commit 2970e95 (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

ZGPS-01, photo from its repository
Photo:@ZGPS-666 (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)

3D preview converted from github.com/ZGPS-666/ZGPS_01 at 2970e95, under GPL-3.0-only. View the original files from GitHub (905 KB) (opens in a new tab)

Power
7.4 V
Payload
0.2 m
Cable length
0.5 m

What it can do

Written by Robotheca from the project's documents.

  • Switches between spherical and hexapod modes
  • Walks in hexapod mode with straight, sideways and turning gaits
  • Rolls in spherical mode with forward, backward and turning motions
  • Performs autonomous shape transformation between modes in under 30 seconds
  • Can be controlled via 2.4 GHz remote control
  • Supports offline voice recognition control

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @ZGPS-666 (README.md), under GPL-3.0-only. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • STM32F407ZGT6 microcontroller running at 168 MHz with 1 M Flash and 192 K SRAM
  • 30 ZX20D serial bus servos rated 20 kg·cm for leg and slice control
  • 1 S80 digital servo rated 70 kg·cm for shape transformation
  • AIP74HC126TA.TB quad three-state buffer for UART signal level shifting
  • Microzone 6C-MINI remote control system with MC7RB-V2 2.4 GHz receiver
  • ASRPRO offline voice recognition module
  • 7.4 V / 9000 mAh / 10 C high-discharge LiPo battery

Connections

  • UART signals from STM32 to 30 ZX20D servos via AIP74HC126TA.TB buffers
  • SBUS signal from MC7RB-V2 receiver through hardware level-inversion circuit to STM32
  • ASRPRO voice module connected to STM32 via UART
  • All servos and modules powered from 7.4 V battery through PCB power management