Turtlebot - quadruped
by hardmouse, published
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It's a quadruped robot that using 8x 9G servos with ultrasonic sensor. You may use your own controller board. In this case I am using regular Arduino with expansion shield and a 7.2V lipo battery with 5V UBEC to regulate the voltage down.
Things you need:
9g micro servo x8
1 1/4" M2 or M3 bolts x12
Nylon nuts for bolts x12 (Other nuts works too but Nylon is better)
10"~12" Aluminum tubing (OD5/32 and OD3/16 for each)
Tools I use:
Electronic driller*(Sometimes the hole is too small)
pliers(for bolt I used)
allen keys(for bolt I used)
File (Smooth out the surface on parts)
AB cold welder (To glue the bolt inside of servo bracket which connect to body as shown in picture. The one with white bracket)
You may want to try this FREDUINO board alone without any servo shields or regulator since it provides 2A output on board. I tried to plug 8 9G servos on it and it works fine with my chassis. Nicely designed!
I have expand the main servo brackets(Left and Right) slightly larger(about 1 mm) for some larger servos. you may find them in name: bracket2_L_ext.stl & bracket2_R_ext.stl.
You will need 3/16" OD aluminum tubing for spacing in between joints as shown in picture. Also some 1 1/4" bolts and nylan nuts to lock parts in place. (In some case you might need to file out some holes from printed parts depands on the bolts you use.) Metal tubing is to reduce the friction in joints, the most important is to having these tubing sticking out a bit so when you screw down the bolts and nuts won't contact surface on parts that cause friction. It just suggestion that I use, you might got some better idea to do this. Drop me a line so others can learn from your idea.
For Ultrasonic sensor housing: I made it for SR-04. Others might not fit in this case or some other from different places might need to file the housing to fit in. I just use 3M double sided type to attache it on the top body plate. They works quiet well and firmed.
As for body plates I got 2 versions. Pick whatever you like. Notice the file "bracket2_connx" is I made to connect top and bottome plates. You don't have to use it. Actually these plate are easy to made. I strongly recommand you make your own to show more personality ;)
UPDATE:2013, Oct 8
Ok! As some people have asked so I have upload my code @Github. https://github.com/hardmouse/J_robots/blob/TurtleBot_2DOF-modified-and-added/TurtleBot_2DOF/
I have warned, my code is very very bad. So bad that I don't even think it's a good idea for starter. It might lead you to wrong direction for programming. So, before you check the code; please think twice.....or more than 3 times.
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Turtlebot - quadruped by hardmouse is licensed under the GNU - GPL license.
What does this mean?
- Remixing or Changing this Thing is allowed.
- Commercial use is allowed.
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