Quadruped V1.0 - Full Project

Go to this project instead:
https://www.thingiverse.com/thing:7215485

It's more recent and updated.

All support I'm getting for these projects helps a ton when prototyping new electronics or testing out new materials. 
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Introduction

Quadruped, a robot designed to be low-cost but capable of conducting research and being extensively modified with additional actuators and sensors.
This code is based on the Stanford Pupper and notspot codebases, with extensive modifications, including integration into ROS 1 Noetic.

Necessary/Good to have tools needed before starting the project:

Proper wire cutters, wire strippers a precisions screwdriver set are necessary.
You will also need a soldering iron to solder wires and to press heat inserts. Amazon Link  

Crimping Tool	AliExpress Link	Amazon Link
Hex Key set	AliExpress Link	Amazon Link
Wire cutter	AliExpress Link	Amazon Link
Wire stripper	AliExpress Link	Amazon Link
Precision Screwdriver Set	AliExpress Link	Amazon Link
Heat insert set	AliExpress Link	Amazon Link
Heat insert tip - set	AliExpress Link	Amazon Link
Soldering Iron - Generic (Budget)	AliExpress Link	Amazon Link
Soldering Iron - TS101 (Premium)	AliExpress Link	Amazon Link
General soldering starting kit	AliExpress Link	Amazon Link

IMPORTANT: Download “Quadruped V1.0 - BOM”

Download the Quadupred BOM to find the component list and the quantity of printable parts you will have to print.

Print guideline

Here are print guidelines for you to follow in order to have decent success with printing parts:

Infill type	Gyroid, Honeycomb, Triangle or Cubic
Material Structural	PCCF, PACF, ASA, ABS, PCTG, PETG, (TPU for Feet)
Material Visual	PLA or whatever you think looks good.
Infill percentage	35% Structural
Layer height	0.2mm, recommended
Wall count	Recommended: 4
Solid top/bottom layers	Recommended: 5
Extrusion width	0.4mm, recommended

Misc notes:

• The black piece which acts to transfer the motion of the lower servo to the lower leg should be printed in two parts, then have a bearing inserted, then be glued together. There are configurations in Solidworks to allow the export of this but I will try add all STLs soon.
• All parts in contact with the motors MUST be printed in ABS for temperature resistance. 
• PLA parts will soften due to the heat the motors produce (although this may be avoided using the fans). So all orange parts are ABS as well as the black hub which holds the servos for the upper and lower leg. (Note that the upper leg is in contact with the servos via the bolts which attach it so should also ideally be printed in ABS to avoid any issues)
• The rear upper and lower parts (large orange parts) that go aroudn the ports of the PI should be printed as a single piece. They were designed separate but you will get much better results just exporting the sub assembly as an STL and printing that
• All heat set inserts should be pushed in with a soldering iron tip.

Wiring Diagrams

Use AWS12 wire for communications.
Use AWG22-30 for any cables powering components.

For cable dimensions and where and how to buy it - refer to the bill of material file. 
Most of the wiring requires solder and a soldering iron.

Communications

Power

PCB

You can either build and solder your own curcuit board from the documentation.
Or you can just upload and order the already picked and soldered PCB. 
Here's a couple of alternatives you can use depending on your region.
All necessary files can be found in the “Manufacturing documents - PCB.zip”

The websites down below should have a “upload and get a quota”-type of system. 
Pick depending on your region.

America:
https://www.protoexpress.com/
https://www.advancedpcb.com/en-us/quoting/
https://oshpark.com/
Europe:
https://www.eurocircuits.com/
https://www.multi-circuit-boards.eu/en/index.html
https://aisler.net/ 
Asia:
https://jlcpcb.com/
https://www.pcbway.com/
https://www.pcbcart.com/