A hexapod alias stewart platform, to hold and move the eye of the Portal AiCore.

The reason for using a Stewart platform in this case was very clear, as the original ingame model of the AI-Core uses such a platform as a holder for the "eye".

• Arduino Nano
• micro stepper - DC 3-5v 2-phase 4-wire motor with mini linear screw slider
• PCA9685 - 16-channel, 12-bit PWM Fm+ I2C-bus LED controller
  • PCA9685 - Product page
  • PCA9685 - Datasheet
  • PCA9685 - Application note
• PCA9629A - Fm+ I2C-bus stepper motor controller
  • PCA9629A - Datasheet
  • PCA9629A - Application Note
• DRV8833 - 2 Channel DC Motor Driver Module 3V-10V 1.5A H-Bridge
  • DRV8833 - Datasheet
  • Adafruit - DRV8833 DC/Stepper Motor Driver Breakout Board
• DRV8847S - Dual H-BridgeMotorDriver (S-Version has i2c Diagnostics)
  • DRV8847 - Dual H-BridgeMotorDriver
• PCF8575 - IIC I2C I/O Extension Shield Module 16 bit
  • PCF8575 - Datasheet
  • PCF8574 Port-Expander 8 I/O - mikrocontroller.net

The first test setup consisted of 6 micro servos, a PCA9685 (i2c, 16 channel pwm driver), Arduino Nano and a 3D printed model of the platform itself.

• Pin definition: A+ B+ A- B-
• Phase resistance: 30 ohm
• Voltage: DC 3V-5V

• Reference
  • Stewart platform From Wikipedia, the free encyclopedia