TitanDynamics
45 lines
3.8 KiB
Markdown
45 lines
3.8 KiB
Markdown
# Components
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Spot is comprised of a 3D-printed body, some hardware, and a list of electronic components.
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## Hardware
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Spot is 3D-printed and is a combination of different Spot Micro designs, with some minor modifications.
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The original design was developed by KDY0523.
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- [robjk reinforced shoulder remix](https://www.thingiverse.com/thing:4937631)
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- [Kooba SpotMicroESP32 remix](https://www.thingiverse.com/thing:4559827)
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- [KDY0532 original design](https://www.thingiverse.com/thing:3445283)
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The 3D prints are assembled with some additional non-printable components:
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- 84x M2x8 screws + M2 nuts
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- 92x M3x8 screws + M3 nuts
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- 64x M3x20 screws + M3 nuts
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- 12x 625ZZ ball bearings
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## Electronics
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These are the electronics I used for mine, and they can easily be swapped to suit your Spot's needs.
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| Component | Specification | Required | Recommendation |
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| ------------------------- | ----------------------------- | -------- | ------------------------------------------------------------------------------------------------------- |
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| ESP32 | Brain | Yes | ESP32-S3 (N8R8) with a camera. |
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| OV2640 or OV5640 | Camera | No | 120-160° |
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| PCA9685 | Servo board | Yes | Add thicker solder traces |
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| 12x Servo motors | Actuators | Yes | 20kg-35kg with high speed. If they are rated for your battery voltage you can skip the step down module |
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| MPU6050 | Inertial measuring unit (IMU) | No | GY-87 or MPU-9250 include magnetometer |
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| HMC5883 | Magnetometer | No | GY-87 or MPU-9250 include magnetometer |
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| Power switch | Main power switch | Yes | |
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| Power button w/ led | Mode switch controller | No | |
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| 2x HC-SR04 | Ultrasonic Distance Sensor | No | |
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| LM2596 or XL4015 | DC-DC Stepdown Module | Yes | Should be set a 5V for the ESP32 and peripherals |
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| 0.96" SD1306 | OLED display | No | |
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| SZBK07 | 20A DC-DC Buck Converter | No | Stepdown to servo voltage. If you select servos rated for you battery voltage, you don't need this. |
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| 7.6-8.4V Battery | Battery | No | Im using 4x 18650 in 2s2p configuration, but other people have 2s LiPos. |
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| 4x Servo extension cables | Servo extension cables | Yes | You can either buy them or make them with a couple or headers and some cable. |
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I recommend getting an ESP32-S3 with a camera, allowing for more computation and imaging capabilities.
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It means a more responsive robot as it's faster at doing sensor fusion, calculating kinematics and gait planning, and networking.
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