If you need my extra support, it would be better to give me some suitable donations: Update: Share the MG90 servo version-
It is possible to download and build using MG90 servos. 2016-11-
1 update: new Spider-
Modification: correct the name and size of the battery model. 2016-01-
24 Update: Open all designs including software Sketchup, EaglePCB, upload PCB layout image file. 2015-10-
04 update: Step 2: Schematic PDF file-spider_2015-10-04-open-v2.
Step 10: Figure 1. 2015-11-
19 update: upload the Arduino sketch file with "special dance (step13).
This question was asked and they were interested in it. :-)-------------------------------------------------------------------------------------------------------------------------------------------------
This is the first project of my 4 leg robot and it took me about 1 year to develop it.
It is a servo system that relies on computing to locate and pre-
Sequence of procedures for legs.
I do this by hand because it can be fun and educational for 3D design/printing and robot control.
This is my fourth generation design and you can have a look here if you are interested in history.
Share more projects
This project is interesting, however, it should take you more time and patience to achieve it.
If this is a tough job for you, a product from sunfoundry could be a good choice.
Next, please note that this project will use welding tools and 3D printers.
Let's start having fun!
Here are the sections: 1x Arduino Pro Mini1x DC-DC(12-5v/3A output)1x HC-
06 Bluetooth module (option)12x SG90 servo(3DOF of 4 legs)
1x mha lithium battery (
DC12300, 90x43x17mm)
1x12 V Jack1x 680 Ohm 1/4 W 5% resistor 1x3mm blue LED 1x tactile switch 1x5x7 cm perfboard some male and female pin head small specification wires (
Solid or stranded)
I believe these parts are the most popular and not expensive.
I spent about 2,000 yuan. 2015-10-
It would be better to upload the PCB layout image file and you should download the zip file.
For more information about pcb diy, you can come here.
Go to the schematic file and place all components such as pictures.
You can make the board as small as possible. The main-
The last picture is the latest version for reference only.
Here are some tips when you are going to build a PCB: 1.
Ensure the output voltage of DC-
The DC module should be 5 v before installing to the perfboard. 2.
The servo system consumes a lot of power and almost 3A in full load.
Please use more thick lines for "power" and "ground" traces. 3.
On/short test with multiple options
This is an important process when you finish welding. 4.
Use the parent pin head instead of the welding module (Arduino, DC-DC)
About perfboard directly5.
The LED will turn on when the "switch" is off.
The reason I design this way is that when I plug in the power supply (like a battery or something) I want to check if the power supply is OK, which is an easy way to protect. . 6.
Congratulate you when you see that the LED lights up after connecting the 12 v battery to the motherboard! Test process:1.
Not DC-
DC and Arduino Pro Mini enter main-board2.
Connect the battery to 12 v-Jack of main-board3.
Check the LED if the LED is on, this is a good start. 4. Push the POWER-
Switch, the LED should be turned off. 4.
Use more
The meter that checks all 5 v and GND pins is correct. Push the POWER-
Switch back to power off and the LED turns on 6. Plug the DC-
DC and Arduino Pro Mini enter main-board7. Push the POWER-
Switch, the LED is off, but the LED of the Arduino Pro Mini is turned on and then power off and the servo is connected to the main-board(Pin2 for Arduino)
Upload the "servo _ test" code to Arduino and you will see 0-180 degree.
This is a big step forward if you don't have any problems here!
Servo_test source code: This step will build robot mechanical parts, you can print the parts yourself, you can also ask someone with a 3D printer to help you.
I also opened the 3D model design for the Sketchup Make version design and you can modify it with your great ideas.
Download STL file from part list: 1x body _ d. stl 1x body_u. stl 2x coxa_l. stl 2x coxa_r. stl 2x tibia_l. stl 2x tibia_r. stl 4x femur_1. stl 8x s_hold.
StlAnd is printed through a 3D printer.
Please check the configuration of the 3D printer before you start printing, because it takes 7 ~ to print all 3D printers ~ About 8 hours.
Wait patiently ~ Have my print settings :-
Density of filling-15%-Nozzle -0. 3mm-Print speed -
65 you can print these parts separately by color group.
Remove the parts, check the printing quality of the item, and polish the surface with sandpaper to make it look good.
Refer to here for more information: 4 screws for the battery between the upper body case and the lower body case (M3x25mm)
Also, install all servo systems with leg pieces, one with 3 servo systems and 4 screws (M1.
6x3mm, or stick it with glue)Notes: 1.
Connect to all parts with screws and servo systems, but do not install the servo rocker arm in this step 2.
Determine the direction of the leg, refer to picture 1 refer here for more information: all legs point to the body and check if all the servo and joints move smoothly. 2015-10-
04 Update Picture 1 with wrong pin assignment.
The main-
On the body-
Fix it with polymer clay.
Then, refer to the picture, connect all the servo lines to the main-according to the pin number marked in pink-
The plate, green, indicates the signal direction of the servo line, yellow means "S", red means "", Brown means "-"".
Make sure the servo of the leg should match the main PIN number
The direction of the plate and legs, otherwise the legs will get crazy. . .
This is an important program. installer: 1.
Upload the "leg_init" code to Arduino to activate servos2.
Position the legs as shown in Figure 1 and install the servo rocker arm with screws. 3.
Tighten all the screech_init source code: then, organize the wires of the servo system to make it look great.
Now the hardware installation is complete.
It's exciting to take this step.
Let's upload the "spider_open_v1" code to Arduino to move it!
Before compiling the code, please download and install lib FlexiTimer2 first and you will see the following actions: 1.
Stand Up and Wait 2 seconds
Take 5 steps forward and wait 2 seconds.
Take 5 steps back and wait 2 seconds.
Turn right, wait 2 seconds.
Turn left, wait 2 seconds.
Wave, wait 2 seconds.
Shake hands, wait 2 seconds.
Wait 2 seconds. back to 1Enjoy! PS.
Spider_open_v3 adds an interesting "body dance" spider_open_v1 source code: you can add more special functions, such as dynamically changing the movement speed with the remote control,
If you find my design interesting, you can make a small donation: share interesting gaits or sports.
The remote control shared some ideas with you in my blog. the IR-
A detector that detects obstacles.