2 layers95 × 95 mm
2 layers78.5 × 32.8 mm
Snakebot pcb dev
ERC-BPGC/SnakeBot2SnakeBot Project
- Size
- 78.5 × 32.8 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 48
- Nets
- 69
- Pads
- 211
- Tracks, vias
- 392, 45
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 14 Aug 2024
- Updated
- 13 Oct 2026
Overview
Snakebot pcb dev is an open-source printed circuit board by ERC-BPGC, from the ERC-BPGC/SnakeBot repository on GitHub, published under the MIT licence. It is a 2-layer board of 78.5 × 32.8 mm with 48 parts on 69 nets, routed with 392 tracks and 45 vias.
It is built around the ESP32-WROOM-32E, AMS1117-3.3 and MP2615GQ-P, with the MPU-6050 among its other parts. Its parts include 16 capacitors, 10 resistors, 8 connectors, 4 ICs and 3 diodes. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
4
ESP32-WROOM-32E
SMD,18x25.5mmSMD,18x25.5mm WiFi Modules ROHSEspressif SystemsWiFi Modules
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) RegulatorsMP2615GQ-P
QFN-16(3x3)-40℃~+85℃ 18V 1~2 2A QFN-16(3x3) Battery Management ROHSMonolithic Power SystemsBattery Management
MPU-6050
QFN-24-EP(4x4)-40℃~+85℃ 16bit 1KB 2.375V~3.46V 5uA Accelerometer Gyroscope I2C X,Y,Z X,Y,Z ±16g ±2000dps QFN-24-EP(4x4) Accelerometers ROHSTDK InvenSenseAccelerometers
README
README.mdProject SnakeBot
Overview
SnakeBot is a modular, wheelless robot designed by the students of Electronics and Robotics Club. It uses a series of universal joints that provide 2 degrees of freedom (DOF) at each joint. The robot is actuated with the help of strings connected to servos, which rotate each module independently in its plane.
Our project aims to explore the locomotion patterns of snakes and apply them to robotics. Initially, we are focusing on straight-line motion and navigating in the 2D plane, but we aim to implement more advanced movements in the future, such as:
- Serpentine motion
- Sidewinding motion
- Lateral motion (Barell Roll)
The long-term goal of this project is to use the frictional properties of custom designed skin, allowing it to traverse various terrains and surfaces with minimal energy loss, just like biological snakes.
Motion
The fundamental concept behind this is using a sinosoidal wave in the x-y and y-z planes (phase shifted and one wave's amplitude encompassing another wave's) and then fitting the modular snakebot links within the bounds of this wave. This allows it to traverse in any direction based on how the wave evolves.
PCB Designing
To give full modularity to the robot we have developed a modular, chainable PCB based on the RP2040 microcontroller. Each modular PCB consists of a power management circuit, LiPo battery connection, ability to add sensors like an IMU (MPU-6050), and controlling 2 servo motors per each module. We are planning to use serial communication between each module.
Parts
48| Qty | Value | Footprint | References |
|---|---|---|---|
| 7 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C2, C6, C7, C9, C13, C14, C15 |
| 3 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R6, R7 |
| 3 | 1K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R2, R3, R4 |
| 3 | 1uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C3, C11, C12 |
| 3 | 22uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C8, C10 |
| 3 | Conn_01x02_Socket | Connector_JST:JST_EH_S2B-EH_1x02_P2.50mm_Horizontal | J2, J5, J6 |
| 3 | LED | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D1, D2, D3 |
| 2 | 10uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C4, C5 |
| 2 | 4.7k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R9, R10 |
| 2 | Conn_01x03_Socket | Connector_JST:JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | J3, J4 |
| 2 | Conn_01x08_Socket | Connector_JST:JST_EH_B8B-EH-A_1x08_P2.50mm_Vertical | J7, J8 |
| 2 | MountingHole | MountingHole:MountingHole_3.2mm_M3 | H1, H2 |
| 2 | SW_Push | Button_Switch_SMD:SW_Push_1P1T_NO_CK_KSC6xxJ | SW1, SW2 |
| 1 | 100k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R8 |
| 1 | 220pF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C16 |
| 1 | 50m | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R5 |
| 1 | 6.8uH | Inductor_SMD:L_Bourns_SRN8040TA | L1 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | Conn_01x04_Socket | Connector_JST:JST_EH_S4B-EH_1x04_P2.50mm_Horizontal | J1 |
| 1 | ESP32-WROOM-32E | RF_Module:ESP32-WROOM-32D | U1 |
| 1 | LOGO | LOGO | G*** |
| 1 | MP2615GQ-P | MP2615:QFN-3x3_MP2615_MNP | U3 |
| 1 | MPU-6050 | Sensor_Motion:InvenSense_QFN-24_4x4mm_P0.5mm | U4 |
| 1 | SW_SPDT | Button_Switch_SMD:SW_SPDT_CK_JS102011SAQN | SW3 |
Questions
How big is the Snakebot pcb dev PCB?
It measures 78.5 × 32.8 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Snakebot pcb dev use?
48 parts, built around the ESP32-WROOM-32E, AMS1117-3.3, MP2615GQ-P and MPU-6050. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Snakebot pcb dev KiCad files?
From the ERC-BPGC/SnakeBot repository on GitHub, at the commit this page was made from: the board is OLD_Electronics/Snakebot_pcb_dev_2/Snakebot_pcb_dev_f/Snakebot_pcb_dev.kicad_pcb and its schematic OLD_Electronics/Snakebot PCB/Snakebot PCB.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Snakebot pcb dev design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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