AUTODESK Instructables [DIY] Spider Robot(Quad Robot, Quadruped) By in CircuitsArduino I) Introduction: [DIY] Spider Robot(Quad Robot, Quadruped) If you need extra support from me, it will be better that make some suitable donation to me: http://paypal.me/RegisHisu The new compiler will cause the floating number calculation problem. | have modified the code already. 2017-03-26 update: Share the MG90 servo version - http://www thingiverse.comvthing:2204279 you can download it and build with MG90 servos. 2016-11-1 updat The all new spider - https://youtu.be/bxJC_vvggle Correct the Battery mode! name and dimension. 2016-01-24 upd: Open the all of design that including the software, Sketchup, EaglePCB, https:/github com/regishsu/SpiderRobot 2015-10-11 upload the PCB layout image file. 2015-10-04 update: Step 2: schematic paf file - spider_2015-10-04-open-v2.pdf Step 10: picture 12015-11-19 update: Upload the Arduino sketch file which is "special dance” included(step13). Someone who are asking about it, they are interested in it. -) This is my first project for the 4 legs robot and it took me about 1 year development. Itis a robot that relies on calculations to position servos and pre-programmed sequences of legs. {'m doing this by handmade way is because of it could be fun and educational for 3D design/printing and robot control This is the fourth generation of my design, you can take a look here if you are interested the history httpt/regishsublogspot.tw/search/iabel/0. SpiderR... 2 more projects sharing - Spider Robot simulator by vPython https://www.instructables.com/id/vPython-Spider-Rob.. Remote control by bluetooth https/Awww.instructables.com/id/DIY-Spider-Robot-P. Building this project is fun, however, it should take you more time and patient to implement. Ifit is a hard job to you, the product comes from Sunfounder might a good choice. |httpsvAwww.sunfounder.com/robotic-drone/quadruped/orawling-quadruped-robot-kit.htm! Before going to next step, please aware that the soldering tools and 3D printer will be used in this project. Let's get start and have fun!Step 1: Electrics Parts PreparationHere are the parts: 41x Arduino Pro Mini 1x DC-DC(12-5v/3A output) 1x HC-06 Bluetooth module(option) 12x SG90 servo(3DOF for 4 legs) 1x 3000mhA Li battery (DC12300, 90x43x17mm) 1x 12V Jack 41x 680 Ohm 1/4 watt 5% Resistor 1x 3mm Blue LED 1x Tactile Switch 1x 5x7cm perfboard ‘Some male and female pin headers ‘Small guage wire(Solid or Stranded) | believe that these parts are most popular and not expensive. They are just cost me about 2,000 Taiwan dollar.Step 2: Make the Main-board arava anette 2015-10-11 upload the PCB layout image file, you should download the zip file would be better. You can come here for more information about PCB DIY. Refer to the schematics file, and place all components like the pictures. you can make the board as small as passable. The main-board that the last one picture is the newest version, just for you reference. Here are some tips while you are going to building the PCB: 1. Be sure the output voltage of DC-DC module should be Sv before mount to the perfboard. 2. The servos consume a lot of power, almost 3A in full loading condition. Please use more thick wire for "power" and ground” traces.3. Do the “open/short" test with the multimeter for your PCB when you finish the soldering, that is the important process, 4. Using the female pin header instead of solder the modules(Arduino, DC-DC) on the perfboard directly 5, The LED will be on while the "Switch" turns off, Why | design this way is because | would like to check the Power source is ok or not when I plug in the power source like battery or something else, it is a simple way for protection: 6. While you see the LED tums on after connect the 12v baltery to the board, congratulation!Step 3: Test the Main-board © legs init | Arduino File Edit Sketch [Tools] Help Auto Format Col+T Archive Sketch fag ee Fix Encoding & Reload adi Locate, 2d) Regishs 3 4 #include 5 Programmer: “AVRISP mk” » i 7 a (/define servos’ ports 9 const int servo_pin[4][3] = { (2, 3, 4}, (5, 6, 73, (8, 9, 10) 10 1 void setup() tai 13 ffinitialize all servos a for (int 1= 0; 4 <4: 144) 3) f Test process: 1. Don't plug the DC-DC and Arduino Pro Mini into the main-board 2. connect the battery to the 12v-Jack of main-board Check the LED, if LED turns on, that is a good start. Push the POWER-Switch, the LED should be off. Using the multi-meter to check all of +5V and GND pins are correct, Push the POWER-Switch back to tur off the power, the LED turns on ear ew Plug the DC-DC and Arduino Pro Mini into the main-board 7. Push the POWER-Switch, the LED turns off, but the LED of Arduino Pro Mini turns on Then power off, and connect a servo to the first row of Leg! connectors of main-board(pin2 of Arduino) upload the “servo_test™ code to Arduino and you will see the servo sweeps from 0 - 180 degree. If you are here without any problem, that is a great progress!servo _test source code: Step 4: Building the Mechanical Parts - Download 3D STL Files 0 Sater gad ttn) Eee ¢ eae ae a ime ae + 8 # 2 2 * ¢ ? x [Ss aun ant ane © This step is going to build the robot mechanical parts, you can print the parts by yourself or ask someone who has 3D printer to help you. | also open the 3D model design which is design by Sketchup Make version and you can modify it with your great idea Download the STI file from http://www thingiverse.com/thing:1009659 Print parts list ix body_d.st! 1x body_u.stl 2x coxa _I.st! 2x coxa_r.stl 2x tibia_L.stt 2x tibia_rst! 4x femur_1.stl 8x s_hold.stlStep 5: 3D Objects Printing Laer ea Sal eta (om) lion a oonTop be (om rose 0) al Seed an Temperate Preceded) rengtanpante(e) 20 etcerpectua() 7 ‘support ‘And print them out by your 3D printer. Please check the configuration of 3D printer before start to print because of it will take a long time about 7~8 hours to print them all. Be patient-~~~ There are my print setting: The fill density - 15% - Nozzle - 0.3mm, - Print speed - 65 you can print these parts separate by color group.Step 6: Preparing to Assemable tear down the parts and check the objects printing quality, and using the sandpaper to polish the surface to make it looks good Refer to here to get more information: Step 7: Assemble the Body Put the battery between the upper body case and lower body case with 4 screws(M3x25mm)Step 8: Assemble the Leg ‘And, install all of servos with legs parts, one leg comes with 3 servos and 4 screws(M1.6x3mm, or glue it anyway) Notes: 1. Connect to all parts with screws and servos, but do not install the servo rocker arm in this step 2. Be sure the leg direction, refer to the picture 1 Refer to here to get more information: Step 9: Integrate 4 Legs to Body connect alll of legs to the body, and check all servos and joints are move smoothly.Step 10: Connect Servos to the Main-board 2015-10-04 update the picture which is wrong pin assignment, AMISH Place the main-board onto the body-case and use the polymer clay to fix And then, refer to the picture, follow the pin number which mark by pink color to connect all servo wire to the main-board, and green color is present the signal direction of servo wire, yellow connect to "S", red to "+", brown to Be sure the servo of legs should match the pin number of main-board and leg direction, otherwise, the legs will got crazy.Step 11: Locate the Initial Position for Legs This is an important procedure, the install procedure: 1. upload the “legs_init" code to Arduino to activate the servos 2. place the legs as the position shows the picture 1, and install the servo rocker arm with screws. 3. tighten all of the screw legs init source code:Step 12: Organize the Wires YL ] , UML a Then, organize the wires of the servos to make it great looking. Now, all of hardware installation was finished. Step 13: It ls Showtime!! Itis excited to go this step Let's upload the "spider_open_v1" code to Arduino to make it moves! Please download and install the lib FlexiTimer? first before do compile the code, httpi/playground arduino.ce/Main/FlexiTimer2 you will see the action as following 1, stand up, wait 2 sec 2. step forward 5 steps, wait 2 sec 3. backward 5 steps, wait 2 sec 4. tum right, wait 2 sec 5, tur left, wait 2 sec 6, wave the hand,, wait 2 sec 7. shake the hand, wait 2 sec 8. sit down, wait 2 sec 9. back to 1 Enjoy! PS, the spider_open_v3 is add an interesting movement of "body dancing” spider_open_v1 source code:Step 14: Do Something Special you can add more special feature like change the move speed dynamically with remote control, that will let your robot more attractive. If you find my design interesting, you could make a small donation: Welcome to share the funny gaits or movement. The remote control Here are some idea share with you in my blog, or ‘Add the IR-detector to detect the obstacle. or handmade the PCB