Walkbot 2

thingiverse

7/26/2020 Extended legs were added. 7/16/2020 Hubs were changed to reduce wobbling in the legs. The gear ratio was modified to give the robot more power. The large gear was altered to accommodate wheels. WB2ChassisA (2) WB2ChassisB (2) WB2ChassisC (1) WB2ChassisD (1) WB2Gear18 (4) WB2Gear30 (8) WB2LinkageLower (8) WB2LinkageUpper (8) WB2Leg1 (8) WB2Leg2 (8) WB2Foot (8) WB2HubSmall (40) WB2HubLarge (24) WB2HubSpacer (8) WB2Spacer19 (4) Additional parts were included: M3x25 screws and nuts (4) Number #6 32 1/2" screws (8) Number #6 x 32 2-1/2" screws (8) 25 mm (id) 35 mm (od) 5 mm O-rings for feet (8) Number #4 24 3/8" screws (32) Hobby motors (2) link: "https://www.sparkfun.com/products/13302" Motor driver (1) link: "https://www.sparkfun.com/products/14450" PIC16f1825 microcontroller or equivalent Breadboard and jumper cables Battery pack (4-6 V) Assembly Instructions: Attach WB2ChassisA and WB2ChassisB to hobby motor using M3x25 screws and nuts. Attach WB2Gear18 to the motor shaft. This may be a tight fit. Repeat on other side. Repeat for second hobby motor. Attach WB2Gear30 to WB2ChassisA using #6-32x1/2" screw and nut through WB2HubLarge as shown. Adjust the spacing until the gear rotates smoothly. Attach WB2LinkageLower and WB2LinkageUpper using #6-32x1/2" screw and nut through WBwHubLarge on outside. Attach WB2ChassisC and WBChassisD to WB2LinkageUpper and WB2LinkageLower using #6-32 2-1/2" screw and nut inside. Rotate the gear so the threaded hole is at the top. Attach WB2Leg1 to WB2Gear30 and WB2LinkageLower using WB2HubSmall and #4 24 3/8" screws as shown. The longer leg section must be connected towards the gear. Both gears should be in the same position, at the top, on the outside and in the opposite position, pointing down on the inside. They should be 180 degrees apart for best walking ability. Attach WB2Leg2 to WB2LinkUpper and to WB2Leg1 using WB2HubSmall and #4 24 3/8" screws. Continue assembly... (to be continued) https://youtu.be/45B2KuHDi-o