SpotMicroESP32 (prints without supports)

thingiverse

The first milestone was done in 2020, which was designing and finalizing all parts necessary for the build of my personal SpotMicro-Derivate... i call it the SpotMicroESP32. You can and should view my repository here - this is also the place where you can find the most current parts and hopefully all instructions necessary for the assembly of it: https://github.com/michaelkubina/SpotMicroESP32 You can join the commuinity on Discord: https://discord.gg/s8F6xHGk9Y There is also a Slack-Channel for this remix (but due to no active subscription it lacks features and is almost abandoned -> so better join the discord). You can find the slack-"archive" here : spotmicroai.slack.com (#spotmicro-esp32). There is already some community-made software: Maarten Weyn solved the inverse kinematics equations and implemented them into ESP-IDF. He also made an App for controlling the Robot via Smartphone: https://github.com/maartenweyn/SpotMicro_ESP32 An walking gait implementation and voice-commanding was achieved by Guna R. from the slacks #spotmicro-esp32 channel, which is build upon Maartens software (see Repo above). You definitly have to take a look there as well: https://github.com/cholan2100/ceasar Apart from this community implementations, there is currently no official software. This is my goal for 2021, which i hopefully get done. Before i proceed further, i wanted to thank Deok-yeon Kim (KDY0523) very much for his original SpotMicro design. Without it it would not have been possible for me to make such a remix in the first place. It was a great inspiration and in itself a well thought out design - i hope to see him in the discord some day. So if you are reading this, please join us :-). Whats so special about my Remix? Well... It features: - absolute supportfree printing - mod-ability to some extend due to granular parts (some template-parts already included, more to come) and freecad-sketches - no glueing anywhere - only 3 different screwsizes + nuts needed (M2x8, M3x8, M3x20) Furthermore it has at least some backwards/forward compatibility to the original KDY0523 Spotmicro -> the whole legs-assembly and the shoulder joints fit the original SpotMicro and vice-versa. The chassis and the hull/covers are incompatible, since i decided to go with slightly other dimensions and screw-positionings. Its also important that you keep in mind, that the parts for the legs need to be mirrored, depending on wether they are mounted on the left or right side of the robot. You will find the pin-layout and schematics in my repository. Dont power all modules from the 5V or 3,3V of the ESP32, since its too much current. Use other powersources and share common ground. This being said, these are the parts/electronics: - ESP32 DevKitC (v1 or v4 tested) - PCA9685 16Ch Servodriver - 0,96" I2C OLED (SSD1306) - 2x HC-SR04 Ultrasonic-Sensors - GY-521 Gyro - HW-482 Relay (sometimes also as named KY-019) - ESP32-CAM with OV2640 (Version 1 or 2 - but not fish-eye) - FT232RL USB-TTL-Adapter for ESP32-CAM - 12x MG996R or stronger servos - 12x FSH6S Servohorn (or 3d printed part from this build as a sub-optimal replacement) - 48x Rubber Dampeners for your Servos (should be delivered with your servos) - 4x Servocable Extensions (~10-15cm) - 8x 625ZZ Ball Bearing - push-button (with LED) - 2x Micro-USB to DIP Adapter - 5cm Neopixel Ring (12RGB LEDs) - XL4016 DC-DC 9A Stepdown Converter OR SZBK07 DC-DC 20A Stepdown Converter when using stronger servos - LM2596 DC-DC Stepdown Module - ACS712 30A current sensor module - 25V voltage sensor module - any standard RC 2S Lipo with some good mAh and C-Rating (can be a cheap one) - ABClip for the balance-charger cable - mini-USB and micro-USB extension cable - cables, solder, shrinking hoses - 84x M2x8 cylinderhead screws + M2 nuts - 80x M3x8 cylinderhead screws + M3 nuts - 64x M3x20 cylinderhead screws + M3 nuts - about 1KG of PLA in sum Whats missing? The whole software...but i am eager to make in 2021 the firmware for the robot (not the cam yet) and a crossplattform (smartphone/tablet) app via flutter. Update 09-05-2021: I have updated all the parts to match the current and final build of the SpotMicroESP32 as how it's published in the repository as well. At this point the robot is feature-complete and i will most likely not spent any more time in doing cad-design on them.