4 layers38.9 × 37.5 mm
4 layers38.9 × 37.5 mm
PCB V1.3
implementedrobotics/Nomad3412-DOF Quadruped Robot
- Size
- 38.9 × 37.5 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 74
- Nets
- 58
- Pads
- 417
- Tracks, vias
- 829, 492
- Pours
- 28
- Routed
- Yes
- KiCad
- KiCad 5 (file 20171130)
- Created
- 6 May 2019
- Updated
- 23 Mar 2022
Overview
PCB V1.3 is an open-source printed circuit board by implementedrobotics, from the implementedrobotics/Nomad repository on GitHub, published under the MIT licence. It is a 4-layer board of 38.9 × 37.5 mm with 74 parts on 58 nets, routed with 829 tracks and 492 vias.
It is built around the STM32F446RET6, AS5047P-AT and DRV8323RHRGZ, with the MCP2542FD among its other parts. Its parts include 20 capacitors, 9 resistors, 6 transistors, 3 diodes and 1 connector. It belongs with the STM32 boards of this library.
Main components
4
STM32F446RET6
LQFP-64(10x10)-40℃~+85℃ 1.7V~3.6V 128KB 12bit 12bit 180MHz 32 Bit 50 512KB ARM Cortex-M4 Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
AS5047P-AT
TSSOP1414-Bit On-Axis Magnetic Rotary Position Sensor with 12-Bit Decimal and Binary Incremental Pulse CountInfineon TechnologiesUncategorised
DRV8323RHRGZ
VQFN-48-EP(7x7)-40℃~+125℃ 12uA 1A 2A 6V~60V Half-Bridge、Three Phase MOSFET Under Voltage Protection、Over Current Protection、Short Circuit Protection、Overtemperature protection (OTP) VQFN-48-EP(7x7) Gate Drivers ROHSTexas InstrumentsBrushless DC (BLDC) Motor DriverMCP2542FD
UncategorisedMicrochip Technology
README
README.mdNOMAD
NOMAD is a 12-DOF quadruped walking robot using Linear and Nonlinear Optimization Control techniques.
- Linear and Nonlinear Model Predictive Control
- Simultaneous Localization and Mapping
- Remote Control Teleoperation
Software Installation
First thing to do is setup your software/development environment to build the source code: Software Setup.
Hardware Installation
Parts
74| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 10uF, 50v | Capacitor_SMD:C_1206_3216Metric | 1206, C1, C2, C3, C4, C5, C6, C7, C8, C9 |
| 8 | 100nF | Capacitor_SMD:C_0402_1005Metric | C11, C18, C20, C21, C22, YCAP1, YCAP2, YCAP3 |
| 6 | TPH | HKCV4:TRANS_TPH5900CNH,L1Q | Q1, Q2, Q3, Q4, Q5, Q6 |
| 4 | 10k | Resistor_SMD:R_0402_1005Metric | R1, R2, R5, R6 |
| 3 | .001 | Resistor_SMD:R_1210_3225Metric | 1210, R7, R8 |
| 3 | 0.1uF | Capacitor_SMD:C_0402_1005Metric | C26, C27, C28 |
| 3 | 200 | Resistor_SMD:R_0402_1005Metric | R9, R10, TERM1 |
| 2 | .1uF, 50v | Capacitor_SMD:C_0603_1608Metric | C10, C13 |
| 2 | 18_AWG_PAD | TestPoint:TestPoint_Pad_3.0x3.0mm | U$4, U$5 |
| 2 | 18_AWG_PAD | TestPoint:TestPoint_Pad_3.0x3.5mm | U$1, U$2 |
| 2 | 1uF | Capacitor_SMD:C_0402_1005Metric | C15, C19 |
| 2 | 1uF, 50v | Capacitor_SMD:C_0603_1608Metric | 0603, C16 |
| 2 | 22uf | Capacitor_SMD:C_0603_1608Metric | C24, C25 |
| 2 | 47nF, 50v | Capacitor_SMD:C_0402_1005Metric | 0402, C14 |
| 2 | LED | LED_SMD:LED_0603_1608Metric | LED1, LED2 |
| 2 | TestPoint | TestPoint:TestPoint_Loop_D3.20mm_Drill2.1mm_Beaded | TP1, TP2 |
| 1 | 150k | Resistor_SMD:R_0402_1005Metric | R3 |
| 1 | 1uf | Capacitor_SMD:C_0402_1005Metric | C23 |
| 1 | 22uF | Capacitor_SMD:C_0603_1608Metric | C12 |
| 1 | 22uH | PCB_V1.2:SDR0302 | L1 |
| 1 | 4.7uF | Capacitor_SMD:C_0402_1005Metric | C17 |
| 1 | 54.9k | Resistor_SMD:R_0402_1005Metric | R4 |
| 1 | 600r | Inductor_SMD:L_0603_1608Metric | CHOKE1 |
| 1 | AS5047P | PCB_V1.2:TSSOP14 | AS5047P1 |
| 1 | CSTCE | HKCV4:CSTCE | XTAL1 |
| 1 | Conn_01x03 | Connector_JST:JST_SH_BM03B-SRSS-TB_1x03-1MP_P1.00mm_Vertical | J2 |
| 1 | Conn_01x08 | Connector_JST:JST_SH_SM08B-SRSS-TB_1x08-1MP_P1.00mm_Horizontal | PROG1 |
| 1 | DIODE | Diode_SMD:D_SOD-123 | D1 |
| 1 | DRV8323RH | Package_DFN_QFN:Texas_S-PVQFN-N48_EP5.15x5.15mm_Islands | DRV1 |
| 1 | LDFM | Package_DFN_QFN:DFN-6-1EP_3x3mm_P1mm_EP1.5x2.4mm | LDFM1 |
| 1 | MCP2542 | Package_DFN_QFN:TDFN-8-1EP_3x2mm_P0.5mm_EP1.80x1.65mm | CAN1 |
| 1 | STM32F446RET6 | Package_QFP:TQFP-64_10x10mm_P0.5mm | STM1 |
| 1 | VAL** | CSD88599Q5DC:MOSFET_CSD88599Q5DC | MOSFET_CSD88599Q5DC |
| 1 | jumper | Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm | JP1 |
| 1 | test_point | TestPoint:TestPoint_Pad_3.0x3.0mm | U$3 |
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Questions
How big is the PCB V1.3 PCB?
It measures 38.9 × 37.5 mm and has 4 copper layers, 1.6 mm thick.
What parts does the PCB V1.3 use?
74 parts, built around the STM32F446RET6, AS5047P-AT, DRV8323RHRGZ and MCP2542FD. 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 PCB V1.3 KiCad files?
From the implementedrobotics/Nomad repository on GitHub, at the commit this page was made from: the board is Hardware/Actuator/NomadBLDC/PCBV1.3_CSD/KICAD/PCB_V1.3_CSD 2/PCB_V1.3.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the PCB V1.3 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).