Chebyshev's foot walker

thingiverse

Video^: https://youtu.be/7CwmXkfgyzc his toy is a model of Chebyshev's standing machine. The model was printed with PETG nozzle 0.4 layer 0.2. All parts are printed without supports. Need to print: 2x Big gear.stl 4x Big rod.stl 1x Body.stl 1x Bottom of battery covers.stl 4x Cam.stl 2x Connecting rod.stl 1x Cover.stl 1x CPU lock.stl 1x Engine lock.stl 2x Foot 1.stl 2x Foot 2.stl 1x Small gear.stl 4x Small rod.stl 1x Switch retainer.stl 1x Top of battery covers.stl 2x Axletree.stl Body.stl requires post-printing: the supports need to be removed and the large holes need to be machined so that Cam.stl rotates in them without jamming. The assembly order is shown in the figures. Attention should be paid to the orientation of the bosses on the Big rod.stl - they should be oriented as shown in the figure. When assembling, the bolts should not be overtightened - all connections should be movable and move without effort. The model can be assembled in two versions. 1 - switching on only from the switch (scheme 1). Such a model only moves forward at maximum speed. 2 - control from the processor (scheme 2). Such a model can move forward and backward and has gradations of speed of advancement. Management is carried out through the WEB interface. In addition to printed products, you must purchase: 1pc mini gear motor GA12-N20 3v 100rpm. https://www.aliexpress.com/item/4000274747864.html 1pc Micro switch ss-12f15 https://aliexpress.com/item/1005001750221821.html 2 pairs of battery contacts https://aliexpress.com/item/4000245292258.html 2 pcs AA batteries 16 pcs M3x8 screws 14 screws 2.5x13 For the processor-driven variant, you must also purchase: 1 pc Wemos D1 MINI v3 (or similar) https://aliexpress.com/item/32651747570.html 1 pc DRV8833 -Motor Driver red https://aliexpress.com/item/32706614206.html The stopohod.rar archive contains the firmware for the processor. I used to work with the ARDUINO IDE processor. At the first start, the firmware organizes an access point, by connecting to which you can configure the further operation of the processor by connecting to it with your phone. It can work both in local access point mode and by connecting to your router. In the latter case, the model's web interface will be available at the yapi address provided by your router. About the firmware and testing of the processor, in addition to powering +5 via micro USB, you should definitely supply +3 power from an external source according to the diagram. In the diagram, the pins RX <-> AIN2 and D1 <-> AIN1 are connected, but are not currently used. They can be used to control a second engine if necessary. You can see the work here: https://youtu.be/7CwmXkfgyzc