Hexapod project using Raspberry Pi Zero 2 W and Python.
Suppose the raspberry pi OS is installed:
- WIFI connection configuration through
/etc/wpa_supplicant.conf
file. - Make raspberry pi (Bluetooth) to be discoverable and paired.
- Enable I2C Interface for PCA9685 communication.
- Open SSH for debugging.
sudo cd ~/PiHexa18/pihexa && python3 running.py
- This project is the python version of the hexapod-v2-7697 project written in C++. I modified the size and structure, and redesigned the PCB.
- Remote control is done via
BLE
ofRaspberry Zero 2 W
- It has 6 legs and each has 3 joint. So there are total
18
Servo motors (Only support GuoHuaA0090
, JXPDI1181MG
now and TowerProMG92B
in the future) - NXP
PCA9685
x 2 are used to control these servo motors - Power comes from a
2S Lipo battery (7.4v)
. Also 7 xmini360 DC-DC
step down voltage regulator are used. One to provide5V
to Raspberry Pi, The other six to provide5V
to each legs (1 mini360 serve 3 servo) - The body is 3D printed PLA. I use
Anycubic i3 Mega S
. - Everything (3D STL, PCB schematic, Python source code) are included in the project under GPL license, Happy making!
Bilibili: 开源树莓派Python编程六足机器人功能介绍和运动测试
YouTube: Open Source Hexapod using Raspberry Pi Zero 2 W and Python