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# SQ3 Symmetric Quad

Last modified by Eric Nantel on 2024/07/03 09:21
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Table of Contents

- Description
- Specifications
- User Guide

# Description

About the SQ3 Walking Robot The SQ3 is a 3DoF per leg quadruped robot with a symmetric body design. The robot's symmetry makes this a very unique quadruped walker. The three DOF (degree of freedom) leg design provides the flexibility required to walk in any direction! The robot uses four HS-645MG servos along with four HS-422 servos. The combo kit includes everything you need to make a functional robot except batteries, charger and optional PS2 controller. This research level robot is perfect for college robotics labs and individuals looking to get started with creating code for quadruped robots. The Mechanics The legs are made from ultra-tough, high-quality aluminum Servo Erector Set brackets and the body is made out of Lexan. The robot is 6" high when standing (foot to top bracket without electronics) and 9.5" wide (foot to foot). Controlling the Robot The SQ3U combo kit comes with the SSC-32 servo controller and the BotBoarduino microcontroller. There is no separate wiring for a PS2 controller since the RC01-v2 PS2 system (sold separately) includes all necessary wiring. By offloading the servo pulse generation and sequence movement timing to the SSC-32, the main board has plenty of power to do some really cool things. The basic PS2 code (found in the Lynxmotion Github acount) allows you to control the robot using a wireless (or wired) PS2 remote control (sold separately). We strongly recommend the (RC-01 v2) wireless PS2 controller to get the robot up and running quickly. With the proper configuration, the popular hexapod Phoenix code (written by Jeroen Janssen (Xan on the forum). Thanks, Jeroen!) has been adapted to the quadruped to help you get started. The SQ3F is the FlowBotics Studio version of the SQ3 walking robot. the kit includes the SSC-32 servo controller as well as a serial to XBee breakout board, a bluetooth module and a full copy of FlowBotics Studio. To control the robot, you create walking sequences within the FlowBotics Studio, and commands are send in real time via Bluetooth to the robot. All higher level mathematics is offloaded to the computer. The software is also compatible with a USB PS2, allowing you to more easily control the robot's motion. Powering Options The robot needs one (1x) 4.8V to 6V battery (6V is preferable) and one (1x) 9V battery. If you prefer only having one power supply, you can purchase a voltage regulator. The following batteries and chargers are suggested (purchased separately). Chargers > NiCad & Ni-MH Universal Smart Charger (USC-02) Batteries > 6.0 Volt Ni-MH 2800mAh Battery Pack (BAT-05) Important! To keep costs down we are not providing printed Assembly Guides. They are provided online, so you will need to print them when you order the kits. By providing the Assembly Guides online we can provide more detailed and up to date information than the old hardcopy method allowed.

# Specifications

- Servo motion control = local closed loop
- Steering = omnidirectional
- Number of legs = 4
- Degrees of freedom per leg = 3
- Motion speed = testing
- Height (body) = ~2.00"
- Height (overall) = up to 7" (legs extended)
- Width (body) = 5"
- Width (overall) = 11"
- Weight (w/out batteries) = 2.75 lbs
- Ground clearance = up to 4.63"

# User Guide

General

- Polycarbonate Information Page
- RC Servo Mid Position Tutorial
- RC Servo Mini-Guide
- RC Digital Servo End Stops (HFP-10)

SQ3 Symmetric Quad Information

- 3DoF Leg Assembly Instructions v2.0
- Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1

Additional Information

- BASIC Atom Pro Programming Tutorial
- BASIC Micro Studio Programming Tutorial for BASIC Atom Pro

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Created by Eric Nantel on 2024/07/03 09:21

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