Microduck PDB R13 LEG5
About the Microduck PDB R13 LEG5 PCB
Microduck PDB R13 LEG5 is an open source PCB design by ldcyes, published on GitHub. It is a 2-layer board measuring 40 × 36 mm, with 13 components from 9 distinct parts.
By type, the board carries 6 connectors and 5 fuses.
From the project
本仓库整理 Microduck 的结构、电气、步态数值验证，以及 RK3576 驱动和训练适配源。当前是工程仿真预发布，尚未通过实物制造与正常步速行走验收。
本仓库整理 Microduck 的结构、电气、步态数值验证，以及 RK3576 驱动和训练适配源。当前是工程仿真预发布，尚未通过实物制造与正常步速行走验收。
R29 将嘴部软件行程收至 0–10° 并修正下头壳；指定腿罩/电机配对在四条新质量慢速轨迹中的最低保守名义间隙下界为 11.407 mm。31 根线的防磨件和四工况动力学已补充，但嘴部闭合扭矩仍超过现行 0.05 Nm 结构限制，连续线束及制造公差尚无实物证明，不能放行行走。
沿用R25：31根头部导线改为底部接入，保留前盖与原外形比例；收拢活动线束并取消原侧面专用线孔。底部走线特写。仍为工程候选，离散转头检查不代表连续运动或实物验收。
历史四步回放：R27：R26整机运动回放。 使用已保存的195.44秒实际积分轨迹，逐帧驱动完整R26装配并复核覆盖件的刚体干涉增量；R26质量下的动力学和实物行走仍待验收。
Microduck PDB R13 LEG5 bill of materials (BOM)
13 components, 9 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | S3B-EH(LF)(SN) PORT 1 | JST_EH_S3B-EH_1x03_P2.50mm_Horizontal | J1 |
| 1 | S3B-EH(LF)(SN) PORT 2 | JST_EH_S3B-EH_1x03_P2.50mm_Horizontal | J2 |
| 1 | S3B-EH(LF)(SN) PORT 3 | JST_EH_S3B-EH_1x03_P2.50mm_Horizontal | J3 |
| 1 | S3B-EH(LF)(SN) PORT 4 | JST_EH_S3B-EH_1x03_P2.50mm_Horizontal | J4 |
| 1 | S3B-EH(LF)(SN) PORT 5 | JST_EH_S3B-EH_1x03_P2.50mm_Horizontal | J5 |
| 1 | SM04B-SRSS-TB(LF)(SN) GND/DATA IN-OUT | JST_SH_SM04B-SRSS-TB_1x04-1MP_P1.00mm_Horizontal | J6 |
| 5 | 0448003.MR 3A VERY FAST | Fuse_Littelfuse_448 | F1, F2, F3, F4, F5 |
| 1 | WIRE55A0111-16-2 10.8V AWG16 | WirePad_2p4mm_6mm | W1 |
| 1 | WIRE55A0111-16-0 GND AWG16 | WirePad_2p4mm_6mm | W2 |
Microduck PDB R13 LEG5 design files
The KiCad project lives in the ldcyes/OpenDuck repository on GitHub; these links point at the commit this page was built from.
Microduck PDB R13 LEG5: common questions
How big is the Microduck PDB R13 LEG5 PCB?
The Microduck PDB R13 LEG5 measures 40 × 36 mm, has 2 copper layers and is 1.6 mm thick.
How many components are on the Microduck PDB R13 LEG5?
13 components, from 9 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 Microduck PDB R13 LEG5 design files?
From the ldcyes/OpenDuck 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 Microduck PDB R13 LEG5 design in my own project?
The repository has no license, so all rights stay with ldcyes. Use it as a reference, and ask the author before reusing the design.
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