NodeQuad V1

Quadruped project using NodeMCU-32S and MicroPython.

Brief introduction

This project is about a spider quadruped. The robot can perform multiple gait in MOVE mode, and can rotate and translate with 6DOF in POSE mode.
Both Remote control and Calibration are done via Wi-Fi on ESP32.
Brian: NodeMCU-32S (ESP32).
Actuator: 12 × 20Kg servo.
Power supply: 3S 2200mAh Lipo battery. mini360 DC-DC bulk for powering ESP32, PCA9685 and MPU6050. 8A UBEC for 12 servos. Check the PCB file for details.
The body is 3D printed PLA.

Name	Spec	Required	Note
Screw	M2 * 6mm	48	Servo Steer : 4 x 12
Screw	M2 * 45mm	8	Body Base & Body Top: 2 x 4
Screw	M2.5 * 8mm	48	Servo Mounting: 4 x 12
Screw	M2.5 * 20mm	8	Tiabia Rod: 4 x 2
Screw	M3 * 65mm	8	Femur: 2 x 4
Screw	M3 * 10mm	4	Tip: 1 x 4
Screw	M3 * 12mm	12	Joint Axis: 1 x 12
Nuts	M2	8	Body Base & Body Top: 2 x 4
Nuts (self-locking)	M3	12	Joint Axis: 1 x 12
Bearing	684ZZ	4	Coxa: 1 x 4
Bearing	624ZZ	8	Femur & Tiabia: 4 + 4

Name		Name	Last commit message	Last commit date
Latest commit History 14 Commits
electronics		electronics
mechanism/stl		mechanism/stl
nodequad		nodequad
resource		resource
.gitignore		.gitignore
README.md		README.md