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Modpack for Quadruped Mini

by Ablapo, published

Modpack for Quadruped Mini by Ablapo Jan 26, 2013
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Here I share my modifications done to the Mini Quadruped from TheCASE.

  • Changed the backbone to have a 6V battery storage (2x2 AA batterys)
  • Added a mounting plate on top of the battery pack
  • Changed the leg for more stability (hexagon)

At the moment the arduino board and the servos are powered by the same power source from the adafruid board. Not sure if that is the best way. Let me know about your ideas.
I am still working on the program code.

Here a first result:


I am using this hardware:

  • Arduino Micro board
  • Adafruid 16-Channel 12-bit PWM/Servo Driver - I2C interface - PCA9685
  • IR Receiver module TSOP34838 for 38kHz
  • Ultrasonic distance sensor module HC-SR04
  • 2x2 battery box (ebay.de search: Batteriefach 4x R6 Batterien Akkus Ladebox Ladefach)
  • Power switch, Breadboards and some flying cables!

Battery Backbone Assembly:

Use the printed parts and 2x M3 bolts and nuts to assemble the battery backbone with the mounting plate. To put a breadboard on the top, use a driller to make two 3.2 mm holes into it. Then assemble it with 2x M3 bolts and nuts. After inserting the battery box you can secure it with the two clamps at the bottom.

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What are your impressions of the Adafruit PWM board? Looking at using that PWM chip in a custom ATMEGA board.

With 8 out of 16 possible servos and the 6V from batteries it works well. Some people with more experience suggest to have a separate power supply for the main board. I just managed to let it stand up and lay down. So far I only tested to move 4 servos at the same time. Maybe the activation of 8 servos could cause a voltage drop and let the microprocessor reset.

Instead of AA's I intend to use a 2S lipo (I have lots for RC use) which should provide ample power over any number of micro servos total draw. The only problem is getting the power down to 6v for the servos which it seems would be best suited for one large or two moderate switching regulators.

Glad to know the board is working so far for you. Let me know if you run into any issues with it.