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Hexapod Robot Board

EnejiOhieku·Hexapod_Robot_Board

Hexapod Robot Board layout, top view — open source ESP32 board by EnejiOhieku
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About the Hexapod Robot Board

Hexapod Robot Board is an open source ESP32 PCB design by EnejiOhieku, published on GitHub. It is a 4-layer board measuring 100 × 80 mm, with 64 components from 54 distinct parts.

Its main chip is the ESP32-S3, from the ESP32 family. Other key parts include the BQ25886, XL4015, AMS1117-3.3, PCA9685_1 and PCA9685_2. By type, the board carries 6 ICs, 3 capacitors, 2 switches, 2 resistors, 1 connector and 1 LED.

It belongs with the power & battery, robotics & motion and iot & wireless designs in this gallery.

From the project

18-DOF Hexapod Robot Controller PCB (4-Layer, ESP32-S3, Dual PCA9685, TP5100 2S Fast Charger, MP1584 Buck)

A fabrication-ready, 4-layer robotics controller PCB designed for an 18-DOF Hexapod Robot. The board features an ESP32-S3 microcontroller, dual PCA9685 16-channel PWM extenders (18 leg servos + 6 auxiliary PWM channels), an integrated 2S LiPo fast Type-C charger (TP5100), a dedicated 5V/3A buck converter (MP1584) for high-current servo actuation, and battery voltage telemetry.

Hexapod Robot Board, from the project README
From the project README

Main components on the Hexapod Robot Board

ESP32-S3BQ25886XL4015AMS1117-3.3PCA9685_1PCA9685_2

Hexapod Robot Board bill of materials (BOM)

64 components, 54 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
ESP32-S3
U1
1
BQ25886
U2
1
XL4015
U3
1
AMS1117-3.3
U4
1
PCA9685_1
U5
1
PCA9685_2
U6
1
USB-C
J1
1
22uF
C_3V3_1
6
100nF
C_3V3_2, C_BAT2, C_OUT3, C_PCA1, C_PCA3, C_VBUS2
1
22uF
C_BAT1
1
100uF_25V
C_IN1
1
22uF_25V
C_IN2
1
220uF_16V
C_ISO1
4
10uF
C_ISO2, C_PCA2, C_PCA4, C_VBUS1
1
1000uF_10V
C_OUT1
1
22uF_16V
C_OUT2
1
AUX_1
J_AUX1
1
AUX_2
J_AUX2
1
AUX_3
J_AUX3
1
AUX_4
J_AUX4
Show 34 more
QtyPartRefs
1
AUX_5
J_AUX5
1
AUX_6
J_AUX6
1
I2C_BUS
J_I2C
1
RF_Coxa
J_L1_C
1
RF_Femur
J_L1_F
1
RF_Tibia
J_L1_T
1
RM_Coxa
J_L2_C
1
RM_Femur
J_L2_F
1
RM_Tibia
J_L2_T
1
RR_Coxa
J_L3_C
1
RR_Femur
J_L3_F
1
RR_Tibia
J_L3_T
1
LF_Coxa
J_L4_C
1
LF_Femur
J_L4_F
1
LF_Tibia
J_L4_T
1
LM_Coxa
J_L5_C
1
LM_Femur
J_L5_F
1
LM_Tibia
J_L5_T
1
LR_Coxa
J_L6_C
1
LR_Femur
J_L6_F
1
LR_Tibia
J_L6_T
1
1k
R_3V3_LED
2
5.1k
R_CC1, R_CC2
1
100k_1%
R_DIV1
1
33k_1%
R_DIV2
1
10k_1%
R_FB1
1
3.16k_1%
R_FB2
1
RESET
SW1
1
BOOT
SW2
1
Blue
LED_3V3
1
10UF
10uF
C1
1
100NF
100nF
C2
1
1UF
1uF
C3
2
10K
10k
R1, R2

Hexapod Robot Board design files

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

Hexapod Robot Board: common questions

What microcontroller does the Hexapod Robot Board use?

The Hexapod Robot Board is built around the ESP32-S3, from the ESP32 family.

How big is the Hexapod Robot Board?

The Hexapod Robot Board measures 100 × 80 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the Hexapod Robot Board?

64 components, from 54 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Hexapod Robot Board design files?

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

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

The repository has no license, so all rights stay with EnejiOhieku. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the Hexapod Robot Board without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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