Chebyshev Linkage Multi-legged Walker

thingiverse

Updated on 09, Jan, 2023: Uploaded Base plate for Tamiya 70097 Twin Motor Gear Box (01_Base_Tamiya_V3.0_x1.stl) Rotation Plate for Tamiya 70097 (10_RotationPlate_Tamiya_x2.stl) Top plate mount for the base plate (17_PlateMount_Tamiya.stl) Using the base plate you can drive the linkage robot using Tamiya 70097 Gear Box. Crank plates (included in Tamiya 70105 or equivalent) are needed. Updated: You can select std. or wide body. Wide body is compatible with OttoDIY mount, M5Stack Mount and Tamiya Universal Plate. Driver Expansion board for micro:bit by DFRobot is compatible with the Universal Plate Mount. Mount plate for M5Stack (two 6mm magnets are needed) and Stackchan mount for wide body are also available This model was designed for mounting Stackchan (Kawaii robot using M5Stack) on Chebyshev Linkage Walking Robot; but you can use any kind of computer board which can drive two 360 degree servo motors. If you have M5Stack, you can drive the robot without motor driver by pin-servo drive. If you have OttoDIY robot and/or Arduino Nano with expansion shield, please refer the similar robot designed for OttoDIY. https://www.thingiverse.com/thing:5701890 .STL models: (Updated on Dec.04, 2022) 1 x Base Plate v2.1 (updated) 6 x Base Shaft V2 (updated, for leg mount and rotation rods. Use the same ones) 8 x Leg 4 x Upper parallel link 4 x Lower Parallel link 4 x Rotation Rod 8 x Lower Vertical link 4 x Upper Vertical Link 6 x 12mm Spacer 2 x Rotation Plate 1 x Top Plate or Top Plate for Stack-chan Screws (bolts and nuts) M2 x 10mm with washer and nut x 24 16 for fixing Upper Vertical Link/Lower Vertical Link/Rotation Rod/Parallel Link 08 for fixing servo motors to Base Plate M3 x 30mm with washer and nut x 4 (Changed) for fixing Lower Vertical Link to Base Shaft M3 x 25mm with washer and nut x 2 for fixing Rotation Rod to Rotation Plate/Shaft Screws (wood screw) 1.4mm screws for fixing servo horn to Rotation Plate x 4 2.1 x 6.3mm wood screw for fixing Top plate on Base Plate x 4 2.1 x 10mm screws for fixing servo horn to servo motor x 2 Servo Motor SG90-HV Rotation servo 2 Computer Board for driving servo motors and servo driver 1 Note: Please prepare appropriate servo driver and battery units to drive SG90-HV. You can drive two servo motors without servo driver unit by pin-servo function of M5Stack Core. the rubber band guns in YouTube movie is https://www.thingiverse.com/thing:4336499