2 layers150 × 65 mm
2 layers68.5 × 61.5 mm
Hexapod
pokitoz/hexapod-ium5An hexapod robot using arduino and servo motors
- Size
- 68.5 × 61.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 57
- Nets
- 103
- Pads
- 236
- Tracks, vias
- 248, 42
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 17 Sep 2022
- Updated
- 6 Aug 2025
Overview
Hexapod is an open-source printed circuit board by pokitoz, from the pokitoz/hexapod-ium repository on GitHub. It is a 2-layer board of 68.5 × 61.5 mm with 57 parts on 103 nets, routed with 248 tracks and 42 vias.
It is built around the ESP32-S3-WROOM-1-N8, PCA9685PW and AOD417. Its parts include 23 resistors, 23 connectors, 7 capacitors, 3 ICs and 1 transistor. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
3
ESP32-S3-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -98.2dBm 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3 Chip On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
PCA9685PW
TSSOP-28-40℃~+85℃ 100kHz~1MHz 16 2.3V~5.5V 25mA 5.5V Built-in PWM TSSOP-28 LED Drivers ROHSNXP SemiconductorsLED Drivers
AOD417
TO-252-55℃~+150℃ 1 P-Channel 1.286nF 15A 2.5V 2.5W 30V 33mΩ@10V、52mΩ@4.5V 440pF 53nC@15V 640pF P-Channel TO-252 MOSFETs ROHSJSMSEMIMOSFETs
README
README.mdhexapod-ium
An hexapod robot using arduino and servo motors. Manufacturing (PCB, 3D prints) and component assembly (PCBA) were done with PCBWay: https://www.pcbway.com/.
Hardware
See the Kicad project in hw/ folder.
There is a Kicad Pluggin (https://www.pcbway.com/blog/News/PCBWay_Plug_In_for_KiCad_3ea6219c.html)
,
simplifying the order process with PCBWay as the Gerber and BOM are filled in.
The design is reviewed and manufactured rapidely; which was very useful for this project.
PCB
Kicad was used for the PCB design to add 2xPCA9865 and an ESP32.
3D Parts
3D Printed parts can be done using a Prusa or Bamboo or any other 3d printer like the first iteration. But it was simpler to use PCBWay and the quality was better than printing on my own. The parameter used were:
- Resin Standard white material (UTR 8360)
- SLA
Design check and delivery was fast.
Components
- 6x Leg (3 of them must be mirrored)
- 6x Holder
- 12 servo motors: MG90S or SG90 Micro Servo with screws
- 1 Arduino Uno
- PCA9865 (https://learn.adafruit.com/16-channel-pwm-servo-driver?view=all)
- Blu-tack
- Jumper cables
Need 5V for the motors board. VCC will be propagated to the main board (Arduino, ESP32,..)
You will need at least 2A upper limit to move all the motors at once.
Software
Arduino
Basic Arduino program to activate all the servo. See the pinout in the .ino file. The VCC going out of the PCA9868 should go to the 5V of the board.
ESP32
Might need driver https://www.silabs.com/developer-tools/usb-to-uart-bridge-vcp-drivers?tab=downloads
Parts
57| Qty | Value | Footprint | References |
|---|---|---|---|
| 18 | 220 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R5, R6, R7, R10, R11, R12, R13, R14, R15, R16, R21, R22, R23, R24, R25, R26 +2 |
| 18 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J3, J4, J5, J6, J7, J10, J11, J12, J13, J14, J19, J20, J21, J22, J23, J24 +2 |
| 5 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R2, R3, R4, R17 |
| 2 | 10uF | Capacitor_SMD:C_0603_1608Metric | C1, C3 |
| 2 | 1uF | Capacitor_SMD:C_0603_1608Metric | C6, C7 |
| 2 | Conn_01x02_Pin | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J15, J17 |
| 2 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J2, J16 |
| 2 | PCA9685PW | Package_SO:TSSOP-28_4.4x9.7mm_P0.65mm | U2, U3 |
| 1 | 0.1uF | Capacitor_SMD:C_0603_1608Metric | C5 |
| 1 | 1000uF | supercap:CAPPRD500W60D1000H1350 | C2 |
| 1 | 22uF | Capacitor_SMD:C_0603_1608Metric | C4 |
| 1 | AOD417 | AOD417:DPAK228P994X240_3N | Q2 |
| 1 | ESP32-S3-WROOM-1-N8 | ESP32S3WROOM1N8R2:ESP32S3WROOM1N8R2 | IC1 |
| 1 | Supply Motor | Connector_AMASS:AMASS_XT30U-M_1x02_P5.0mm_Vertical | J1 |
Questions
How big is the Hexapod PCB?
It measures 68.5 × 61.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Hexapod use?
57 parts, built around the ESP32-S3-WROOM-1-N8, PCA9685PW and AOD417. 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 Hexapod KiCad files?
From the pokitoz/hexapod-ium repository on GitHub, at the commit this page was made from: the board is hw/hexapod.kicad_pcb and its schematic hw/hexapod.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Hexapod design in my own project?
Its repository states no licence, so its author keeps all rights: ask pokitoz before reusing the design.
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