README.md

spiderbot_mk1

Robotic spider prototype
developed at storks.ai

Videos

Youtube Videos

List of materials

To actuate, use

• Arduino Nano 33 BLE sense REV 2 - or any other microcontroller
• 16x servo motors "MG90S micro servo" or similar servo of the same size
• 1x PCA9685 16-Channel PWM Module
• Hemp rope or other natural fibers
• screws m2 x 1.9 or the so

CAD

Cad files are in the folder CAD/, ready to print with a FDM 3D printer

Calibration programs

To calibrate the servos and decide max and min angles. There's a program for the servos in the front and one for the servos in the back

Schematics

TODO - coming soon with a cool picture

Servo motors Denominations

Servos are named from #0 to #15

Front servos for the horizzontal movement of the legs

Front servos number (from front to back legs):

• Left: 0, 1, 2, 3 <
  
• Right: 4, 5, 6, 7
  

Back servos for the vertical movement of the legs

Back servos number:

• Left: 8, 9, 10, 11
  
• Right: 12, 13, 14, 15
  

Pairing front and back servos

By pairing the 2 servos (front and back for each leg), the end effector of the leg can move on a surface. The position of end effector of the leg can be controlled with a combination of the position of the 2 servos.

Left legs servo paring:
FRONT - BACK
0 - 8
1 - 9
2 - 10
3 - 11

Right legs servo paring:
FRONT - BACK
// 4 - 12
// 5 - 13
// 6 - 14
// 7 - 15

Servo motors control

here's a guide on how to use the servo (works with arduino as well): https://dronebotworkshop.com/esp32-servo/

Photos