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SMARS - the Screwless  Modular Assembleable Robotic System.  

To download the files visit https://www.thingiverse.com/thing:2755973

2

1

Print the frame

2

Print the servo holders

Print 4x Servo holder & 4x Servo holder M (M is 
a mirror image of the servo holder)

SG90
Servo

Servo Holder

Servo Holder M

3

Fit the servo into the servo holder

x8

4

Fit the servo holders into the frame

The following instructions show how to assemble the SMARS Quad Robot. A bill of materials is provided at 
the back of this guide along with links to where to buy the components from. Links to the 3d printed 
parts are also provided at the back of this guide.

QUAD ROBOT
PRINT PARTS

S

M

A S

R

Summary of Contents for QUAD ROBOT

Page 1: ...2 3 GND OE SCL SDA VCC V I2C Address Open 0 Closed 1 GND OE SCL SDA VCC V 4 5 6 7 8 9 10 11 12 13 14 15 A5 A4 A3 A2 A1 A0 RW Servo 4 Back Left Servo 3 Back Left Foot Base Servo 2 Top Left Servo 5 Back...

Page 2: ...ge of the servo holder SG90 Servo Servo Holder Servo Holder M 3 Fit the servo into the servo holder x8 4 Fit the servo holders into the frame The following instructions show how to assemble the SMARS...

Page 3: ...the servo arms 6 Mount the servo holder in the servo arm 7 Check the servo rotation x4 8 Attach the other servo holders to the frame SG90 Servo Insert the servo horn onto the servo and screw in secure...

Page 4: ...r 11 Check the servo rotation 12 Download the python code x4 x4 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 90 180 170 160 150 140 1 3 0 1 2 0 1 1 0 1 0 0 Feet need a rotation of between 50 to 150 degrees From...

Page 5: ...r board using I2C which only requires 2 wires System Clock SCL and System Data SDA These are marked on servo driver board and on pins 3 7 on the Raspberry Pi Zero 0 1 GND V POWER 16x12 bit PWM PCA9685...

Page 6: ...y needs between 0 and 90 degrees of rotation The servos are oriented differently for each leg so the degrees of rotation for each needs to be understood and set correctly in the code Range of Motion F...

Page 7: ...at 15 Menu 1 select channel 2 select angle 0 quit current channel is 0 current angle is 0 enter number Type 1 to change the current channel Select Channel currently selected channel is 0 type channel...

Page 8: ...s www thingiverse com thing 2755973 8 About this Guide This guide was written by Kevin McAleer and is provided freely to the SMARS community Social Media If you haven t already please join the faceboo...

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