cabg3742 / HexaphobUS

Hexapod Robot | UdeS-GRO

HexaphobUS

Hexapod robot | UdeS-GRO

This is an academic project from robotic engineering undergraduates at Université de Sherbrooke. We are building a 6-axis robot from scratch with motion control, sequencing, and an intuitive user interface.

Table of Contents

• Setup
  • Setup for Users
  • Setup for Repository Contributors
• Documentation
• Robot Operation
• External Resources
  • Battery, Power Source, and Charger
  • Crimping Tool Kit
  • Microcontroller Board
  • On-Board Computer
  • PWM Servo Driver
  • Servomotor
  • Voltage Regulator

Setup

Setup for Users

• Clone or download the repository;
• Connect the hexapod's microcontroller (Arduino) to your computer;
• Open the file hexaphobus_pwm.ino in the ./Code/hexaphobus_pwm folder, and build the code into the microcontroller with your favorite IDE;
• Disconnect the microcontroller and connect the on-board computer (Raspberry Pi) instead (or connect remotely);
• Verify your Python version (3.5 and above);
• Run the file hexaphobus_ui.py in the ./Code/hexaphobus_ui folder;
• Initialize the serial communication.

Setup for Repository Contributors

To setup the Git, the Key Management System and/or the Integrated Development Environment, head over to the code setup file. You can also add your own method, so the file can act as a setup archive for various softwares and operating systems.

To add new functions, refine the code, redesign the 3D model, and more, fork your own copy of the repository and make a pull request after modifications.

Documentation

All the code documentation can be found here.

Robot Operation

• ↑: forward motion;
• ↓: backward motion;
• ←: left turn;
• →: right turn;
• POS INIT: resets the robot origin;
• PRG1: pre-programmed motion sequence (currently unused);
• Start Serial: initializes serial communication with the robot;
• Servo ##: displays the servomotor angle (position of servos on the interface mimicks the robot seen from above);
• Vitesse / Énergie: robot speed and energy consumption (currently unused).

External Resources

Under this section, you will find external links and descriptions of the project's external resources.

Battery, Power Source, and Charger

• Brand Name: Makita
• Model:
  • Battery: BL1041B
  • Power Source: PE00000028
  • Charger: DC10SB
• ASIN:
  • Battery: B017GQJDVM
  • Charger: B01FY4XCB0
• Information / Resources:
  • Makita Battery Webpage
  • Makita Power Source Webpage
  • Makita Charger Webpage

Crimping Tool Kit

• Brand Name: Preciva Dupont
• Model: PR-3245 (SN-28B) + JST-XH
• ASIN: B07R1H3Z8X
• Information / Resources: Amazon Link

Microcontroller Board

• Brand Name: Arduino
• Model: Mega 2560 R3 (A000067)
• ASIN: B0046AMGW0
• Information / Resources: Arduino Webpage

On-Board Computer

• Brand Name: Raspberry Pi
• Model: 3B
• ASIN: B01LPLPBS8
• Information / Resources: Raspberry Pi Webpage

PWM Servo Driver

• Brand Name: SunFounder
• Model: PCA9685
• ASIN: B014KTSMLA
• Information / Resources: Sunfounder Wiki

Servomotor

• Brand Name: Hitec RCD
• Model: HS-422
• ASIN: B0006O3WWI
• Information / Resources: Hitec Webpage

Voltage Regulator

• Brand Name: DROK
• Model: 090483
• ASIN: B00C4QVTNU
• Information / Resources: DROK Webpage