HardLabs

Soft-Robotics

esb8·Soft-Robotics·KiCad/soft_robot_cam.kicad_pcb

Soft-Robotics PCB layout, top view — open source ESP32 board by esb8

About the Soft-Robotics PCB

Soft-Robotics is an open source ESP32 PCB design by esb8, published on GitHub under the Custom license license. It is a 4-layer board measuring 49.9 × 47.3 mm, with 84 components from 35 distinct parts.

Its main chip is the ESP32-S3-WROOM-1-N16R8, from the ESP32 family. Other key parts include the PZ127-2-02-Z, MPU6500, DRV8874PWPR, XC6206P282MR and XC6206P122MR. By type, the board carries 32 capacitors, 26 resistors, 10 connectors, 8 ICs, 4 transistors and 1 fuse.

It belongs with the robotics & motion and dev boards & breakouts designs in this gallery.

From the project

Custom PCB for soft robotic applications

This project features a soft-robotics controller built around an ESP32 with an onboard camera, driver stages for multiple electromagnets, photoresistor sensing, SPI breakouts, and a UART header for easy flashing all developed for bio-inspired robotics at ELXIR LAB.

Soft-Robotics, from the project README
From the project README

Main components on the Soft-Robotics

PZ127-2-02-ZMPU6500DRV8874PWPRESP32-S3-WROOM-1-N16R8XC6206P282MRXC6206P122MRSY8113IADC

Soft-Robotics bill of materials (BOM)

84 components, 35 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
PZ127-2-02-Z
U1
1
MPU6500
U3
2
DRV8874PWPR
U4, U5
1
ESP32-S3-WROOM-1-N16R8
U9
1
XC6206P282MR
U12
1
XC6206P122MR
U13
1
SY8113IADC
U14
2
S8050
MDD（Microdiode Electronics）
Q1, Q2
1
AO3401A
Q3
1
AO3400A
Alpha & Omega Semicon
Q4
1
C99102
Connector
J1
1
CONN_01X03
Conn_01x03
J3
1
CONN_01X05_PIN
Conn_01x05_Pin
J4
1
CONN_01X02_PIN
Conn_01x02_Pin
J5
4
SCREW_TERMINAL_01X02
Screw_Terminal_01x02
J6, J7, J9, J10
1
CONN_01X24_SOCKET
Conn_01x24_Socket
J8
1
C157993
B5B-PH-K-S-(LF)(SN)
J12
1
C41367230
BHFUSE BSMD1206C-1700T
F1
1
SW_DIP_X02
SW_DIP_x02
SW4
1
C2286
Red
Hubei KENTO Elec
D2
Show 15 more
QtyPartRefs
1
6.8UH
6.8uH
L1
4
10NF
10nF
FH(Guangdong Fenghua Advanced Tech)
C1, C2, C22, C27
7
100NF
100nF
YAGEO
C3, C9, C11, C12, C21, C29, C30
1
220PF
220pF
FH(Guangdong Fenghua Advanced Tech)
C4
4
22UF
22uF
Samsung Electro-Mechanics
C5, C6, C10, C33
2
22NF
22nF
Samsung Electro-Mechanics
C7, C28
2
10UF
10uF
Samsung Electro-Mechanics
C8, C32
5
1UF
1uF
Samsung Electro-Mechanics
C13, C17, C18, C19, C20
5
2.2UF
2.2uF
Samsung Electro-Mechanics
C23, C24, C25, C26, C31
2
10UF
10uF
Samsung Electro-Mechanics
C34, C35
12
10kΩ
UNI-ROYAL(Uniroyal Elec)
R1, R2, R7, R8, R9, R10, R12, R13 +4
10
4.7kΩ
UNI-ROYAL(Uniroyal Elec)
R3, R11, R14, R15, R16, R17, R19, R20 +2
2
200Ω
UNI-ROYAL(Uniroyal Elec)
R4, R18
1
100kΩ
UNI-ROYAL(Uniroyal Elec)
R5
1
22kΩ
UNI-ROYAL(Uniroyal Elec)
R6

Soft-Robotics design files

The KiCad project lives in the esb8/Soft-Robotics repository on GitHub; these links point at the commit this page was built from.

Soft-Robotics: common questions

What microcontroller does the Soft-Robotics use?

The Soft-Robotics is built around the ESP32-S3-WROOM-1-N16R8, from the ESP32 family.

How big is the Soft-Robotics PCB?

The Soft-Robotics measures 49.9 × 47.3 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the Soft-Robotics?

84 components, from 35 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 Soft-Robotics design files?

From the esb8/Soft-Robotics 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 Soft-Robotics design in my own project?

It is published under Custom license, which limits how it may be reused; read the license before building on it.

Can I test firmware for the Soft-Robotics 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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