Walkbot

thingiverse

3/4/2020 Modified chassis so you don't need to use washers. Added support for US sensor. https://youtu.be/H4KZcUhznWU Walking robot based on Klann device. You need: 1 Chassis6CLt 2 WBChassis4ALt 2 WBChassis4BLt 8 WBLeg1Lt 8 WBLeg2Lt 4 Gear20A 8 WBGear20BLt 8 WBLinkLLt 8 WBLinkUpperLt 4 WBSpacer19 4 WBSpacer10 (scale to match screws) 24 WBHubLt 32 TCHub 32 Small screws (like for electronics) Number 6 1/2" Screws (34) Number 6 Screws 1 1/2-2" (4) Batterypack Breadboard 16f1825 PIC (programmed to your liking) 2 Hobby motors available from Sparkfun 4 M3 Screws 1 Motor controller available from Sparkfun 1. Attach WBChassis4A and WBChassis4B to gear motor using M3 screws. You may need to use some washers to allow for clearance of the motor. Repeat for the other motor. 2. Push the 4 Gear20A parts onto the gear motor shafts. 3. Attach WBGear20BLt (8) to mesh with Gear20A using WBHubLt hubs and number 6 screws. You may need to add some washers here to prevent the gears from hitting the wires on the motor. Adjust so that the gears are not too tight or loose using the slots. The Gear should rotate easily. You may need to clean residue from the holes and file or sand any ridges from the hub. Make sure that the threaded hole is pointing straight up for the gears on one side and straight down for the gears on the other side so the robot can stand up straight. 4. Attach the WBLeg1Lt to the WBGear20BLt using small black screws and small hubs (TCHub) (8x) The position should be concave up with the longer segment towards the gear and the smaller segment attaching to WBLeg2Lt later. 5. Attach the WBLinkLLt to the chassis using the WBHubLt and #6 screws. It should rotate freely. Rotate it to the up position. Use a small black screw and TCHub to attach the linkage to WBLeg1Lt on the middle hole. 6. Attache the WBLinkUpperLt to the chassis using the WBHubLt and #6 screws. It should rotate freely. Rotate it to the up position. Use a small black screw and TCHub to attach the linkage to WBLeg2Lt on one of the end holes. The concave side should be pointing towards the body of the robot. 7. Attach WBLeg2Lt and WBLeg1Lt using a small screw and TCHub. 8. Use the longer number 6 screws to pass through the lowest holes on WBChassisA & B with WBSpacer19 providing support for the legs. You may need to adjust the length of the spacer through scaling. Add WBSpacer10 to the end then attach to Chassis6CLt, you can increase the length of these spacer to provide more space for the electronics. (4x) 9. Use velcro to attach a battery pack and a small breadboard for the PIC microcontroller and the motor driver. Make the pulses fairly long if you are running at slower speeds (~10 Hz). It is pretty difficult to put all the screws together without dropping them.