Kame: quadruped robot (version with cheap servo)

Last crawled date: 4 years, 3 months ago

New version of the quadruped robot Kame with an enlarged body.
WiFi controlled, manual or auto mode. Change logic in code for you auto mode .
The case can accommodate all the necessary electronics with a rangefinder,
two batteries (18650) and a switch.
Cheap SG90 Micro Servo are used.
Video: Kame in auto mode
Printed parts:
1x Kame_Body_botom
1x Kame_Body_top_left
1x Kame_Body_top_right
1x Kame_Body_shell
1x Kame_Body_layer
2x Kame_Bracket_left
2x Kame_Bracket_right
2x Kame_Leg_left_B
2x Kame_Leg_right_B
4x Kame_Leg_A
4x Kame_spacer
4x Kame_foot
Purchased parts:
12 x M3 nylon nut
12 x M3 nut
12x M3*30mm
4x M3*20mm
10x M3*10-12mm
1x Nodemcu-CH340
1x HC-SR04
8x SG90 Micro Servo
1lot x Ball Bearings 623ZZ 3x10x4mm
2x BEC : Easy tuned BEC or cheaper BEC
2x Battery 18650 or Battery 18650
1x 2s Balance cable for lipo battery
1x Connector JST
1x On/Off Rectangle Rocker Switch

insulating tape
Options

1x Simple charger for 2-3s lipo
Firmware (serg_dev branch)
Connection mapping (wire connection diagram will be posted soon)
Servo:
front right outer - D6
front right inner - D4
front left outer - D8
front left inner - D1
rear right outer - D3
rear right inner - D5
rear left outer - D2
rear left inner - D7
HC-SR04:
echo - SK (IO-10 on ESP-12E WIFI module, check the connection on the Board with a multimeter)
trim - D0 (IO-16 on ESP-12E WIFI module, check the connection on the Board with a multimeter)