- Prepare the Hardware
Before starting, make sure you have the following components ready:
Hardware specific to this chassis design
- 12 x PDI-HV5523MG Servos
- If you’re using other servos, make sure they fit the design by using the ServoHornTester.stl file.
- M3 self-tapping countersunk head screws
- These screws are used to link all the printed parts together. Ensure they have countersunk heads, as the design accommodates these heads.
- M2 x 6mm self-tapping countersunk head screws
- These screws are used to attach the servo horns to the printed parts.
- Test the Servos
Before you start printing all the parts, it’s essential to check if your servos fit the design. To do this:
- Print the ServoHornTester.stl file.
- Attach the servo horns and verify that they fit properly with the printed parts. This step helps you avoid wasting time and material if the servos don’t fit.
- Parts to Print
Once you’ve prepared your hardware and checked the servo compatibility, you’ll need to print the following parts. Some of these parts are compatible with the original SpotMicro design (v1.0), so you can reuse them if you already have them.
Body Parts
- 1 x Chassis_Baseplate_v2.0.stl (compatible with SpotMicro v1.0)
- 2 x Chassis_Side_v2.0.stl (compatible with SpotMicro v1.0)
- 1 x F_I_Shoulder_v2.0.stl
- 1 x F_O_Shoulder_v2.0.stl
- 1 x B_I_Shoulder_v2.0.stl
- 1 x B_O_Shoulder_v2.0.stl
Leg Parts
- 2 x L_HindLimb_v2.0.stl (Left hind leg)
- 2 x L_MidLimb_v2.0.stl (Left middle leg)
- 2 x L_Wrist_v2.0.stl (Left wrist)
- 2 x L_MidLimbCover_v2.0.stl (compatible with SpotMicro v1.0)
- 2 x R_HindLimb_v2.0.stl (Right hind leg)
- 2 x R_MidLimb_v2.0.stl (Right middle leg)
- 2 x R_Wrist_v2.0.stl (Right wrist)
- 2 x R_MidLimbCover_v2.0.stl
- 4 x Foot_v2.0.stl (Recommended to print in TPU or any flexible material)
Cover Parts
- 1 x Cover_Top_v2.0.stl
- 1 x Cover_Bottom_v2.0.stl
- 1 x Head_RPiCam_v2.0.stl
- 1 x Butt_Empty_v2.0.stl
- Assemble the Robot Body
Assembling the Main Chassis:
- Start by attaching the Chassis Baseplate (bottom part) to the two Chassis Side parts using M3 self-tapping countersunk head screws.
- Attach the F_I_Shoulder and B_I_Shoulder (front and back shoulder parts) to the chassis frame.
Assembling the Legs:
- Attach the L_HindLimb (left hind leg) and R_HindLimb (right hind leg) parts to the chassis.
- Then attach the L_MidLimb (left middle leg) and R_MidLimb (right middle leg) parts.
- Connect the L_Wrist (left wrist) and R_Wrist (right wrist) parts.
- Finally, attach the Foot parts to the bottom of each leg to give the robot stability and support.
Assembling the Covers and Head:
- Attach the Cover_Top and Cover_Bottom to the chassis to enclose and protect the inner components.
- Attach the Head_RPiCam to the top of the robot if you plan to use a Raspberry Pi camera for navigation or control.
- Assemble the Servos
- Install the servo horn onto each of the 12 PDI-HV5523MG servos.
- Use M2 x 6mm self-tapping countersunk head screws to secure the servo horns to the printed parts (legs, wrists).
- Repeat this process for all legs and wrists to ensure the servos are securely attached and can operate the robot’s movement.
- Assemble Remaining Parts
- If you want to leave the robot’s bottom section open for additional components or just want an empty space, attach the Butt_Empty part to the lower back of the robot.
- Final Check and Completion
Once you have assembled all parts, double-check all connections, especially the servos and the leg parts. Ensure that everything is secure, and all parts move smoothly. Once you’re satisfied, you can start programming your robot to control its movements and functions.
Additional Tips:
- Flexible Foot Printing: Printing the Foot parts with TPU (or another flexible material) helps improve traction and flexibility when the robot moves on different surfaces.
- Fusion 360: If you want to customize the design further, you can modify the parts in Fusion 360. The design files are available for you to edit and adapt to your needs.
- File 3D download
