Quadruped II

Introduction

Quadruped, a robot designed to be low-cost but capable of conducting research and being extensively modified with additional actuators and sensors.
This code is based on the Stanford Pupper and notspot codebases, with extensive modifications, including integration into ROS 1 Noetic

Update 1.15

• Released the assembly guide
• Make drawings of all the assemblies available for download
• Further improvements and optimisations to the mechanics. 
• Updated the structural supports to fit more printers.

What's the difference between the versions?

Quadruped I has less parts.
It has 10 servos where only the front hips can pivot, making its movement more restricted than it's big brother Quadruped II.

It has less components and more simple electronics. All of the parts and joints is 3D-printed.

Quadruped II has bearings and 12 servos. 
It also has a custom power distribution board to make the assembly more easy.
It has ROS 1 Noetic implementation aswell which enables another level of flexibility. 

Quadruped I is a great starter DIY project.
Quadruped II is more advanced but also more expensive.

Tools

Needed or good to have tools for this project.

Consumables

Print guideline

Here are print guidelines for you to follow in order to have decent success with printing parts:

Misc notes:

• The black piece which acts to transfer the motion of the lower servo to the lower leg should be printed in two parts, then have a bearing inserted, then be glued together. There are configurations in Solidworks to allow the export of this but I will try add all STLs soon.
• All parts in contact with the motors MUST be printed in ABS for temperature resistance. 
• PLA parts will soften due to the heat the motors produce (although this may be avoided using the fans). So all orange parts are ABS as well as the black hub which holds the servos for the upper and lower leg. (Note that the upper leg is in contact with the servos via the bolts which attach it so should also ideally be printed in ABS to avoid any issues)
• The rear upper and lower parts (large orange parts) that go aroudn the ports of the PI should be printed as a single piece. They were designed separate but you will get much better results just exporting the sub assembly as an STL and printing that
• All heat set inserts should be pushed in with a soldering iron tip.

Wiring Diagrams

Use AWS12 wire for communications.
Use AWG22-30 for any cables powering components.

For cable dimensions and where and how to buy it - refer to the bill of material file. 
Most of the wiring requires solder and a soldering iron.

Communications

Power