CHIGLU: A Modular Hardware for Stepper Motorized Quadruped Robot — Design, Analysis, Fabrication, and Validation

This repository contains Design and Manufacturing Data for the research project. In this research, we present a design and analysis of a versatile PCB as the main electrical system that allows for the control of twelve stepper motors of a quadruped robot by stacking TMC2208 drivers and an Arduino Mega Pro. The primary motivation behind the design is to offer a compact and efficient solution for applications such as robotic arms, robotics limbs, or exoskeletons that require precise control of multiple stepper motors. The research focuses on the PCB's architecture, stackable design, and the integration of TMC2208 and Arduino Mega Pro. Additionally, PDN (Power Distribution Network) analysis simulation is done to ensure that the voltage and current density within the PCB are within the expected parameters. The ability to stack the controllers on the development board provides insights into the board's heating dynamics. The findings from this research make a significant contribution to the advancement of stepper motor control systems for multi-axis applications, offering a convenient form factor and reliable performance.