Self Balancing Hexapod Robot

aeventre·Self_Balancing_Hexapod_Robot·hardware/PCB/KiCad/spiderbot.kicad_pcb

Self Balancing Hexapod Robot PCB layout, top view — open source board by aeventre

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About the Self Balancing Hexapod Robot PCB

Self Balancing Hexapod Robot is an open source PCB design by aeventre, published on GitHub under the Apache-2.0 license. It is a 2-layer board measuring 70 × 80 mm, with 132 components from 53 distinct parts.

Other key parts include the TLVM13640RDLR, TPS40305DRCR, LM393, PCA9685PW and LSM6DSO32TR. By type, the board carries 52 resistors, 28 connectors, 21 capacitors, 12 jumpers, 6 ICs and 6 transistors.

It belongs with the robotics & motion and sensors designs in this gallery.

From the project

Since this project is using slightly different hardware to his and additional sensors might be placed on it in the future,some parts of the central body will eventually be modified and that CAD will be uploaded here.

Since this project is using slightly different hardware to his and additional sensors might be placed on it in the future,some parts of the central body will eventually be modified and that CAD will be uploaded here.

For this project a custom PCB was designed to rest on top of a Raspberry pi 4b in order to make the wiring for everything neater and because PCB design is fun.

Self Balancing Hexapod Robot, from the project README — From the project README

Main components on the Self Balancing Hexapod Robot

TLVM13640RDLR TPS40305DRCR LM393 PCA9685PW LSM6DSO32TR

Self Balancing Hexapod Robot bill of materials (BOM)

132 components, 53 distinct parts.

Qty	Part	Footprint	Refs
1	TLVM13640RDLR	B3QFN20_RDL_TEX	U1
1	TPS40305DRCR	VSON-10-1EP_3x3mm_P0.5mm_EP1.2x2mm_ThermalVias	U2
1	LM393	SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.29x3mm	U3
2	PCA9685PW	SOT361-1_NXP	U4, U5
1	LSM6DSO32TR	LGA-14L_2P5X3X0P83_STM	U6
2	CSD17304Q3	8VSON	Q1, Q2
1	CSD13202Q2	Q2_SON6_TEX	Q3
3	BSS138	SOT-23_3L_ONS	Q4, Q5, Q6
1	Ras Pi 4 Interface	PinSocket_2x20_P2.54mm_Vertical	J1
1	Leg Switches	PinSocket_2x06_P2.54mm_Vertical	J2
1	5V Connect	PinSocket_1x02_P2.54mm_Vertical	J3
1	Terminal Block	TerminalBlock_MetzConnect_Type011_RT05502HBWC_1x02_P5.00mm_Horizontal	J4
1	6V Connect	PinSocket_1x02_P2.54mm_Vertical	J5
22	Conn_01x03	PinSocket_1x03_P2.54mm_Vertical	J6, J7, J8, J9, J10, J11, J12, J13 +14
1	5V to 6V Connect	PinSocket_1x02_P2.54mm_Vertical	J28
12	SolderJumper_2_Open	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	JP1, JP2, JP3, JP4, JP5, JP6, JP7, JP8 +4
1	6V Line	TestPoint_Loop_D1.80mm_Drill1.0mm_Beaded	TP1
1	U1 Feedback	TestPoint_Loop_D1.80mm_Drill1.0mm_Beaded	TP2
1	LED Blue	LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder	D1
2	LED Green	LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder	D2, D3

Show 33 more

Qty	Part	Footprint	Refs
1	LED Red	LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder	D4
1	240nH	IND_IHLP-4040DZ_VIS	L1
1	8.2pF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C1
2	10uF	C_1210_3225Metric_Pad1.33x2.70mm_HandSolder	C2, C3
5	47uF	C_1210_3225Metric_Pad1.33x2.70mm_HandSolder	C4, C5, C7, C8, C9
1	1uF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C6
1	1uF	C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C10
1	2.2uF	C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C11
1	3300pF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C12
3	0.1uF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C13, C20, C21
1	330pF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C14
1	1200pF	C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	C15
1	47uF	PCAP_TPE_B2_PAN_1411	C16
1	270pF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C17
2	10uF	C_0603_1608Metric_Pad1.08x0.95mm_HandSolder	C18, C19
31	10k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R1, R2, R4, R5, R6, R7, R8, R9 +23
1	1.2k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R3
3	100k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R10, R15, R17
1	42.2k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R11
1	84.5k	R_0402_1005Metric_Pad0.72x0.64mm_HandSolder	R12
1	11.8k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R13
3	1.6k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R16, R23, R25
1	2.1k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R18
1	17.4k	R_0402_1005Metric_Pad0.72x0.64mm_HandSolder	R20
1	1.1k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R21
1	3.2k	C_0805_2012Metric_Pad1.18x1.45mm_HandSolder	R22
1	51k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R24
1	750k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R28
1	82k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R30
1	1k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R31
1	27k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R32
1	30k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R33
1	2k	R_0603_1608Metric_Pad0.98x0.95mm_HandSolder	R35

Self Balancing Hexapod Robot design files

The KiCad project lives in the aeventre/Self_Balancing_Hexapod_Robot repository on GitHub; these links point at the commit this page was built from.

Layouthardware/PCB/KiCad/spiderbot.kicad_pcb
Schematichardware/PCB/KiCad/spiderbot.kicad_sch

Self Balancing Hexapod Robot: common questions

How big is the Self Balancing Hexapod Robot PCB?

The Self Balancing Hexapod Robot measures 70 × 80 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Self Balancing Hexapod Robot?

132 components, from 53 distinct parts. The full bill of materials is listed on this page.

Where can I download the Self Balancing Hexapod Robot design files?

From the aeventre/Self_Balancing_Hexapod_Robot repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Self Balancing Hexapod Robot design in my own project?

Yes, under the terms of its Apache-2.0 license, which aeventre chose for the repository.

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