CHIGLU: A Modular Hardware for Stepper Motorized Quadruped Robot $\unicode{x2014}$ Design, Analysis, Fabrication, and Validation

TL;DR

This paper introduces CHIGLU, a modular hardware system with a stackable PCB design that efficiently controls twelve stepper motors for quadruped robots, enhancing maneuverability on uneven surfaces.

Contribution

The paper presents a novel stackable PCB architecture for controlling multiple stepper motors in bio-inspired quadruped robots, focusing on compactness, power efficiency, and manufacturability.

Findings

Successful control of twelve stepper motors with a single PCB system.

Power distribution network analysis confirms safe voltage and current levels.

Design for manufacturability ensures ease of assembly and component swapping.

Abstract

Bio-engineered robots are under rapid development due to their maneuver ability through uneven surfaces. This advancement paves the way for experimenting with versatile electrical system developments with various motors. In this research paper, we present a design, fabrication and analysis of a versatile printed circuit board (PCB) as the main system that allows for the control of twelve stepper motors by stacking low-budget stepper motor controller and widely used micro-controller unit. The primary motivation behind the design is to offer a compact and efficient hardware solution for controlling multiple stepper motors of a quadruped robot while meeting the required power budget. The research focuses on the hardware's architecture, stackable design, power budget planning and a thorough analysis. Additionally, PDN (Power Distribution Network) analysis simulation is done to ensure that the voltage and current density are within the expected parameters. Also, the hardware design deep dives into design for manufacturability (DFM). The ability to stack the controllers on the development board provides insights into the board's components swapping feasibility. The findings from this research make a significant contribution to the advancement of stepper motor control systems of multi-axis applications for bio-inspired robot offering a convenient form factor and a reliable performance.