by tristomietitoredeituit, published

SMARS QUAD MOD by tristomietitoredeituit Jan 13, 2018


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Finally the SMARS quadruped is here. with this mod, your smars will become a quadruped robot.
Join us on facebook for updates and software help: https://goo.gl/qLA9Ag
to build it, you will need this parts:
-8x SG90 servos https://goo.gl/anjY5h
-1x 16CH Servo driver https://goo.gl/uRjkjq
-2x 2A boosters https://goo.gl/tBnoUv
-1 or 2 18650 batteries https://goo.gl/YTEKNP
-1x switch https://goo.gl/VWQY69
-1x power connectors https://goo.gl/Utsi1M

For the arduino version:
-1x Digispark/ Digispark pro or Arduino mini:
-1x HC-06 bluetooth module https://goo.gl/rAjvM8
-1x Video transmitter https://goo.gl/Phk9df
-1x FPV camera https://goo.gl/r8hahN

For the Raspberry version:
camera https://goo.gl/i3MsMe
RPi zero W https://goo.gl/cCRt5j

You have to print:
-1x quad power_shell
-1x frame (1.5 pi if you have the chassis_S, 2 pi if you have the new 4WD chassis)
-1x servo driver cover
-1x holding board spark (for the arduino version)
-2x foot
-2x foot_m
-4x servo case
-4x servo case_m
-4x servo arm
-2x pi holder v2 (if you want to mount a rpi)

If you like my projects, just tip me or support me buying the material from my links, it will not cost you extra money and you will allow me to finance new projects! I would really appreciate it!

Print Settings












supports only in "quad power_shell.stl"

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I’ve built this and got it walking, I even was able to add minor obstacle avoidance using an ultrasonic sensor and control it using a wired joystick. What I don’t understand is how to receive video wirelessly using the recommend parts, and how can I use that receiver to not only get video but also send user input wirelessly. Thanks in advance! Love the design btw!

Hi and thanks. So the video system has to be combined with the Bluetooth or another wirless communication system. When I designed it I thought to use my smartphone to control it by Bluetooth and receive the images with a video receiver with OTG adapter, but it can also work with VR glasses or a monitor for drones.
I don't think that the video transmitter can also be used as a bidirectional communication system.
Can you share your code with the community? It would be really helpful for a lot of members, thanks

Ok that makes sense, I guess the part that I’m stuck on is how does the wireless transmitter antenna fit in with Arduino, is there a library that allows them to communicate with each other, or are they natively compatible, or what exactly? I’d be happy to share my sketch and to make a small wiring diagram so that some of the confusion gets eliminated, but how would you like me to upload it?

They are two separate systems. They just share the same power supply. If you use a phone as controller, you have to use 2 apps in split screen or design an app that combine OTG video input with Bluetooth data transmission. For the upload you can upload all here and mark it as a remix or join the Facebook group and upload your progress there

Thank you! That’s what I didn’t get, but that makes sense! I’ll go ahead and prepare an upload and put it up later today. If you would like you could even incorporate it in the main download that you offer here, just let me know.

I can add your work here and give you the credits you deserve

One thing that that's been left out is that you need to download the original SMARS models as well and print out the chassis.stl file.
I figured this out after trying to find out how the holder board fit and noticing that it looked like there was another part that was supposed to go in the frame_e.stl part but couldn't figure out what it was.

Maybe there are others from the original SMARS project that need to be printed as well, but I haven't gotten that far yet.

If we want to go straight to this quad robot without making the original SMARS, what parts from https://www.thingiverse.com/thing:2662828 do we need?

SMARS modular robot

Thanks for the quick reply, both the original smars and this mod are amazing, thanks for sharing it!

I'll be constructing this probably later this month. I was wondering if anyone could post a video of it working. I'd like to see how well it works.

Hi, for the moment nobody in the community shared an Arduino sketch for this model. I made a demo (it simply gos forward), you can see it at the end of this video https://youtu.be/JCqkuDWNzIg (it was still in development at that time, there was an external power supply). Probably with a better code, it can do better than that.

A okay, I was unaware there wasn't a functional version yet. That video doesn't look bad and I'll share my code if I get it working before you post something. I'll likely be using a raspberry pi though and try to eliminate the need for the atmega chips.

That's great, especially because I'm not a good programmer. The idea of the pi is good and with some small arrangements, it's possible to mount a pi zero in it. I suggest to use the I2C servo controller, so it's easy to connect all the servos, give each motor the right current and you have just 2 wires that go to the rPi.

I already spent money for parts please provide with code and instructions

Minimum it takes two weeks (only for the instructions). I made a demo but I'm not a programmer so considering the comparative advantage in doing this, I prefer to invest time in designing. There is a group of french people in the community that are interested in doing some code for this mod, you can try to follow their progresses

just make detailed instructions for each variant of parts and assembly and ill get my friend to write up some code thanks .

even if it takes two weeks

Thanks for share. I very enjoy with your thing
However, I don't fine the file inside quadruped. Are you miss file?
Please provide it

The missing parts, are pieces of the original SMARS and you can find them here SMARS modular robot found on #Thingiverse https://www.thingiverse.com/thing:2662828

SMARS modular robot

Would it be possible to control this with a pi zero instead so that you could have wireless control and video over WiFi instead of using the video transmitter?

Sure, I have chosen this solution for a budget reason but it's possible.

hey i really like your project but you say that it's a mod but it's a mod for what ?

Hi and thanks! It's a mod for the original SMARS https://www.thingiverse.com/thing:2662828

SMARS modular robot

are there any instructions on how to assemble this thing?

Here's what I did to build(most) of mine last weekend:
Print out all the parts. When you print them, mark which ones are the servo_module and servo_module_m and leg and leg_m. You'll need those later.
Look at the pictures. There are pictures of the robot from the front and the back. If you look at how the robot in the pictures are assembled, you'll get an idea of how it's put together and what you have to do to assemble it properly.

Can I expect an instructions?

Not in the next two months. I'm really busy. You can try to ask to the community