My final project is a spiderbot (hexapod) that will be controlled via Wi-Fi with a mobile phone. Using a Xiao ESP32 C6 as the spiderbot's controller, which generates an application (due to iOS restrictions, I'll be using this operating system for remote control), this application connects to the user's (previously configured) hotspot to establish communication and provide access to the application. It also features video transmission thanks to a Xiao ESP32 Sense S3, which also connects to the user's (previously configured) hotspot; together, these components enable complete control of the spiderbot.
It will have a simple PCB, as almost all the components used will be modular and connected by terminal blocks and pin headers, since the power supply will be separated into power and logic components. It will have 18 servomotors (3 on each leg) so that in the future, the spiderbot's movement will have 3 degrees of freedom per leg.
Multiple people on Youtube has done this before but they alway miss the aesthetic part, and except fot that no one implements the ratransmission of video because this hexapods usually are for using near to you. My principal inspiration is a guy called Tazer Technical that explains a lot of problems and how he solved them.
Videos from youtbe like the next ones:
This is my current Bill of materials:
| Item | Detail | Quantity | Unit price (dollars) | Source link |
|---|---|---|---|---|
| PLA filament | white color | 1Kg | $15 | Amazon |
| Servomotors | MG90s | 18 | $1.95 | Aliexpress |
| Washer | M2 | 12 | $0.02 | Local (N/A) |
| M3 screws | cortos | 12 | $0.17 | Local (N/A) |
| M3 screws | medianos | 18 | $0.17 | Local (N/A) |
| M3 screws | largos | 18 | $0.17 | Local (N/A) |
| Sandpaper | #120 | 1 sheet | $0.5 | Local (N/A) |
| Item | Detail | Quantity | Unit price (dollars) | Source link |
|---|---|---|---|---|
| Gens Ace 2S 7.4V 2200mAh 35C LiPo Battery | N/A | 1 | $20 | Amazon |
| Servomotor module | PCA9846 (CHECAR) | 2 | $14 | Local (N/A) |
| XL4016 module | Power stage | 1 | $7 | Local (N/A) |
| MP1584EN module | Logic stage | 1 | $3 | Local (N/A) |
| Jumpers | mixed | 12 | $0.06 | Local (N/A) |
| Item | Detail | Quantity | Unit price (dollars) | Source link |
|---|---|---|---|---|
| Xiao esp32 C6 | Control | 1 | $9 | Aliexpress |
| Xiao esp32 sense S3 | Video | 1 | $14 | Aliexpress |
| flight sensor Vl53lXX-V2 | Proximitty | 2 | No se | Local (N/A) |
| Pin header | through hole | 20 | $0.4 | Local (N/A) |
| Pin hembra | through hole | 20 | $0.4 | Local (N/A) |
| Copper plate | Fiber glass | 1 | $0.5 | Local (N/A) |
| Fuse 15 A | Automative fuse | 1 | $0.5 | Aliexpress |
| Jumpers | mixed | 12 | $0.06 | Local (N/A) |
| Item | Detail | Quantity | Unit price (dollars) | Source link |
|---|---|---|---|---|
| PLA filament | white color | 1Kg | $15 | Amazon |
| Spray paint | mixed colors | 500g | $5 | Local (N/A) |
| Fabric | black | 10cm | $3 | Local (N/A) |
| Paint | mixed colors | 20 ml | $1 | Local (N/A) |
At the moment the main question is how to make the spiderbot's tibia stable? beacuse I already have the walking routine but at the moment he makes the first step it falls down. My fisrt tought was that the PLA material in contact was slippy so I glued sand to make the surface ANTIDERRAPANTE but that worked a little bit but is still unstable.
The funny part is thet when I write the routine by hand he does it but when is on the routine loop is when he fails so I have 2 options.
I tried the 2nd option but that only makes the spiderbot to take more time to fall down is a bit more stable but still can't make the first step correctly.