Ez Arduino Hexapod Robot - Starrley

cults3d

About Starrley hexapod is a derivative of Vopal hexapod. Our design is nested and compact, which means it takes less time to print one set. The board we use makes wiring and assembly more accessible. With an internal battery charging circuit, you don't need to remove the battery for charging. To control and play, you can use the original gamepad of Vopal hexapod or the rechargeable gamepad we designed as shown in the demo video. Starrley and Vopal are different in shape but are functionally the same. Information in Vorpal wiki can mostly apply to Starrley as well. Video Demo https://youtu.be/245G5_vGQY8 https://youtu.be/eSkCClbctb0 https://youtu.be/ou4Yj7jj1K4 https://youtu.be/h6IrZuumQRY Electronics To build Starrley, you'll need the following components: A HuaDuino board, which is Arduino Nano compatible with enhanced features. It integrates everything on a single PCB. This makes it easier for people to make a bot with it. The embedded battery charging circuit makes battery charging more convenient. It's also inexpensive, making it our favorite board for projects. 12 of Tower Pro MG90s or compatible servos. A HC-05 Bluetooth module, set the baud rate to 38400; you'll need one more for the gamepad. A buzzer. A 10K Ohms potentiometer. An 18650 lithium battery; the sample unit we built is a 3000mAh one; use this battery clip to hold it. You can use any 3.7V lithium batteries as long as they fit the base model. Some 3.7V polymer lithium batteries have protection circuits, which limit output current, so they're not recommended unless you know how to remove or bypass them. 12 of M2x6 tapping screws. Software Arduino sketches on GitHub - opens and uploads firmware.ino Wiring The connection of components to the board follows these steps: ### Servos * Front right hip servo -> D9 * Front right leg servo -> D8 * Front left hip servo -> D10 * Front left leg servo -> D11 * Mid right hip servo -> D6 * Mid right leg servo -> D4 * Mid left hip servo -> D7 * Mid left leg servo -> D5 * Back right hip servo -> D3 * Back right leg servo -> D2 * Back left hip servo -> D13 * Back left leg servo -> D12 ### Potentiometer Here's a good tutorial for understanding potentiometers: * VCC -> 5V pin * Signal -> A3 * Gnd -> Gnd Buzzer Positive polarity -> A2 Negative polarity -> Gnd HC-05 BT module Plug it into the 6-pin socket and move the S1 switch to the BT side (after you upload the robot code). Assembling Notes The initial posture of Starrley is a stance, with all servos at an angle of 90°. When applying the servo arm and screw, turn the robot on to allow the robot code to adjust the servos to 90°, then adjust the hip and leg parts to form the stance. Before applying screws to the potentiometer, turn the knob counterclockwise until it points to the word "STOP" on the cover. Starrley will be in a stance when turned on. While testing everything is working correctly, you can put the cover on and apply M2 tapping screws to the front and back sides. How to Play * Turning the potentiometer knob clockwise to the position pointing TST label, Starrley will perform demo mode as shown in the 1st video. * Turning the knob clockwise and pointing to RC label, Starrley can be controlled by the gamepad as shown in the 2nd video. Before that, the HC-05 (in master mode) of the gamepad and the one (slave mode) in Starrley need to pair up together. To do this, bring them close together and turn both powers on. It will take a few seconds for pairing to be successful. When paired, the gamepad is ready to drive Starrley. Pressing the joystick will see Starrley move. Battery Charging Connect a 5V power source to the USB port. You'll see an LED red light while charging. When charging finishes, the LED will turn green.