{"id":459,"date":"2026-06-11T10:31:17","date_gmt":"2026-06-11T02:31:17","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/hexapod-ugv-six-leg-servo-arduino-gait-farsi\/"},"modified":"2026-06-11T10:31:18","modified_gmt":"2026-06-11T02:31:18","slug":"hexapod-ugv-six-leg-servo-arduino-gait-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/hexapod-ugv-six-leg-servo-arduino-gait-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a UGV \u0634\u0634\u200c\u067e\u0627 (Hexapod) \u0628\u0627 \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 \u0648 Arduino: \u06af\u0627\u0645 \u0628\u0631\u062f\u0627\u0634\u062a\u0646 \u062e\u0648\u062f\u06a9\u0627\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a \u0634\u0634\u200c\u067e\u0627 Hexapod \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
\n

\u0631\u0628\u0627\u062a Hexapod \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

Hexapod<\/strong> \u06cc\u06a9 \u0631\u0628\u0627\u062a \u0634\u0634\u200c\u067e\u0627 \u0627\u0633\u062a \u06a9\u0647 \u0645\u062b\u0644 \u062d\u0634\u0631\u0627\u062a \u0631\u0627\u0647 \u0645\u06cc\u200c\u0631\u0648\u062f. \u0628\u0631\u062e\u0644\u0627\u0641 \u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc \u0686\u0631\u062e\u200c\u062f\u0627\u0631 \u06a9\u0647 \u0631\u0648\u06cc \u0633\u0637\u0648\u062d \u0646\u0627\u0647\u0645\u0648\u0627\u0631 \u0645\u0634\u06a9\u0644 \u062f\u0627\u0631\u0646\u062f\u060c \u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc \u067e\u0627\u062f\u0627\u0631 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u0646\u062f \u0627\u0632 \u0645\u0648\u0627\u0646\u0639 \u0631\u062f \u0634\u0648\u0646\u062f\u060c \u0627\u0632 \u067e\u0644\u0647\u200c\u0647\u0627 \u0628\u0627\u0644\u0627 \u0628\u0631\u0648\u0646\u062f\u060c \u0648 \u062d\u062a\u06cc \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0646\u0627\u0647\u0645\u0648\u0627\u0631 \u0631\u0627\u0647 \u0628\u0631\u0648\u0646\u062f.<\/p>\n

\u0647\u0631 \u067e\u0627\u06cc Hexapod \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u06f3 \u0645\u0641\u0635\u0644 \u062f\u0627\u0631\u062f: Coxa<\/strong> (\u0631\u0627\u0646 \u2014 \u0686\u0631\u062e\u0634 \u0627\u0641\u0642\u06cc)\u060c Femur<\/strong> (\u0633\u0627\u0642 \u2014 \u0686\u0631\u062e\u0634 \u0639\u0645\u0648\u062f\u06cc)\u060c \u0648 Tibia<\/strong> (\u06a9\u0641 \u2014 \u0686\u0631\u062e\u0634 \u0639\u0645\u0648\u062f\u06cc). \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u06f1\u06f8 \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 (\u06f6 \u067e\u0627 \u00d7 \u06f3) \u0628\u0647 \u062c\u0627\u06cc \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0645\u062c\u0632\u0627 Arduino\u060c \u0627\u0632 \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0633\u0631\u0648 PCA9685<\/strong> (\u06f1\u06f6 \u06a9\u0627\u0646\u0627\u0644 I2C) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n

Tripod Gait<\/strong> \u0631\u0627\u06cc\u062c\u200c\u062a\u0631\u06cc\u0646 \u0627\u0644\u06af\u0648\u06cc \u0631\u0627\u0647 \u0631\u0641\u062a\u0646 Hexapod \u0627\u0633\u062a: \u062f\u0631 \u0647\u0631 \u0644\u062d\u0638\u0647 \u06f3 \u067e\u0627 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0647\u0633\u062a\u0646\u062f (\u067e\u0627\u06cc\u0647 \u067e\u0627\u06cc\u062f\u0627\u0631) \u0648 \u06f3 \u067e\u0627\u06cc \u062f\u06cc\u06af\u0631 \u062f\u0631 \u0647\u0648\u0627 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u2014 \u0627\u06cc\u0646 \u062a\u0646\u0627\u0648\u0628 \u0633\u0631\u06cc\u0639 \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 Hexapod \u06f1\u06f8-\u0633\u0631\u0648 \u0628\u0627 Tripod Gait\u060c \u0642\u0627\u0628\u0644 \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 RC \u0648 \u062d\u0631\u06a9\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0647 \u062c\u0644\u0648\/\u0639\u0642\u0628\/\u0686\u0631\u062e\u0634.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f1\u06f5 \u062a\u0627 \u06f2\u06f5 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f2 \u062a\u0627 \u06f4 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0631\u0639\u062a:<\/strong> \u06f0.\u06f3 \u062a\u0627 \u06f0.\u06f5 m\/s<\/li>\n<\/ul>\n<\/div>\n

    \n\nArduino Mega<\/text>\nPCA9685 I2C<\/text>\n\n\n\n\n\n\n\n\n\n\n\n\nL1<\/text>\nL2<\/text>\nL3<\/text>\nR1<\/text>\nR2<\/text>\nR3<\/text>\nHexapod \u2014 \u06f6 \u067e\u0627 \u00d7 \u06f3 \u0645\u0641\u0635\u0644 = \u06f1\u06f8 \u0633\u0631\u0648 \u2014 PCA9685 I2C<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0645\u0634\u062e\u0635\u0627\u062a<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Mega 2560<\/td>\n\u067e\u0631\u062f\u0627\u0632\u0634\u06af\u0631 \u0627\u0635\u0644\u06cc<\/td>\n<\/tr>\n
    PCA9685 Servo Driver \u00d7 \u06f2<\/td>\n\u06a9\u0646\u062a\u0631\u0644 \u06f1\u06f8+ \u0633\u0631\u0648 \u0627\u0632 \u0637\u0631\u06cc\u0642 I2C<\/td>\n<\/tr>\n
    \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 MG90S \u00d7 \u06f1\u06f8<\/td>\n\u06f3 \u0633\u0631\u0648 \u00d7 \u06f6 \u067e\u0627<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc \u0644\u06cc\u0632\u0631\u06a9\u0627\u062a \u0627\u06a9\u0631\u06cc\u0644\u06cc\u06a9<\/td>\n\u0628\u062f\u0646\u0647 \u0648 \u067e\u0627\u0647\u0627 \u2014 \u0641\u0627\u06cc\u0644 DXF<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc 7.4V LiPo 2200mAh<\/td>\n\u0645\u0646\u0628\u0639 \u0633\u0631\u0648\u0648<\/td>\n<\/tr>\n
    UBEC 5V 3A<\/td>\n\u062a\u063a\u0630\u06cc\u0647 Arduino \u0648 \u0633\u0631\u0648\u0648\u0647\u0627<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f Tripod Gait<\/h2>\n
    \n#include <Wire.h>\n#include <Adafruit_PWMServoDriver.h>\n\nAdafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);\n\n#define SERVOMIN 150  \/\/ Pulse min\n#define SERVOMAX 600  \/\/ Pulse max\n#define STEP_H   30   \/\/ \u0627\u0631\u062a\u0641\u0627\u0639 \u06af\u0627\u0645 (\u062f\u0631\u062c\u0647)\n#define STEP_FWD 25   \/\/ \u0637\u0648\u0644 \u06af\u0627\u0645 (\u062f\u0631\u062c\u0647)\n\n\/\/ \u06af\u0631\u0648\u0647 A = {L1, R2, L3} \u2014 \u06af\u0631\u0648\u0647 B = {R1, L2, R3}\n\/\/ \u062a\u0631\u062a\u06cc\u0628 \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627 \u0631\u0648\u06cc PCA9685\nint legCoxa[6]  = {0,3,6,9,12,15};\nint legFemur[6] = {1,4,7,10,13,16};\nint legTibia[6] = {2,5,8,11,14,17};\n\nvoid setServo(int ch, int angle) {\n  int pulse = map(angle, 0, 180, SERVOMIN, SERVOMAX);\n  pwm.setPWM(ch, 0, pulse);\n}\n\nvoid liftLeg(int leg) { setServo(legFemur[leg], 90 + STEP_H); }\nvoid placeLeg(int leg) { setServo(legFemur[leg], 90); }\nvoid moveFwd(int leg, int dir) { setServo(legCoxa[leg], 90 + dir * STEP_FWD); }\n\nvoid tripodGait() {\n  int groupA[] = {0, 2, 4}; \/\/ L1, L3, R2\n  int groupB[] = {1, 3, 5}; \/\/ L2, R1, R3\n\n  \/\/ \u0641\u0627\u0632 \u06f1: \u06af\u0631\u0648\u0647 A \u0628\u0627\u0644\u0627 \u0645\u06cc\u200c\u0631\u0648\u062f\n  for(int l : groupA) { liftLeg(l); moveFwd(l, 1); }\n  delay(100);\n  for(int l : groupA) { placeLeg(l); }\n\n  \/\/ \u0641\u0627\u0632 \u06f2: \u06af\u0631\u0648\u0647 B \u0628\u0627\u0644\u0627 \u0645\u06cc\u200c\u0631\u0648\u062f\n  for(int l : groupB) { liftLeg(l); moveFwd(l, 1); }\n  delay(100);\n  for(int l : groupB) { placeLeg(l); }\n  delay(80);\n}\n\nvoid setup() {\n  pwm.begin(); pwm.setOscillatorFrequency(27000000);\n  pwm.setPWMFreq(50); delay(10);\n  \/\/ \u0645\u0648\u0642\u0639\u06cc\u062a \u0627\u0648\u0644\u06cc\u0647\n  for(int i=0;i<18;i++) setServo(i, 90);\n  delay(1000);\n}\n\nvoid loop() {\n  tripodGait();\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0647\u0645\u0647 \u06f1\u06f8 \u0633\u0631\u0648 \u0628\u0647 \u0645\u0648\u0642\u0639\u06cc\u062a \u06f9\u06f0\u00b0 \u0645\u06cc\u200c\u0631\u0648\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 Mechanical Center<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u062f\u0631 Tripod Gait \u067e\u06cc\u0634 \u0645\u06cc\u200c\u0631\u0648\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 \u0628\u0627\u06cc\u062f \u0628\u0647 \u062c\u0644\u0648 \u0628\u0631\u0648\u062f<\/td>\n<\/tr>\n
    \u0633\u0631\u0648\u0647\u0627 \u06af\u0631\u0645 \u0646\u0645\u06cc\u200c\u0634\u0648\u0646\u062f\u061f<\/td>\nUBEC 3A \u06a9\u0627\u0641\u06cc \u0627\u0633\u062a<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc \u062a\u0639\u0627\u062f\u0644 \u062f\u0627\u0631\u062f\u061f<\/td>\nCG \u0628\u0627\u06cc\u062f \u0645\u0631\u06a9\u0632 \u0628\u0627\u0634\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nArduino Mega<\/text>\nGait Logic<\/text>\nPCA9685 \u00d7 \u06f2<\/text>\nI2C \u2192 \u06f1\u06f8 \u0633\u0631\u0648<\/text>\nMG90S \u00d7 \u06f1\u06f8<\/text>\n\u06f3 \u0645\u0641\u0635\u0644\/\u067e\u0627<\/text>\n\u0631\u0627\u0647 \u0631\u0641\u062a\u0646<\/text>\nTripod Gait<\/text>\nHexapod \u2014 Arduino \u2192 I2C PCA \u2192 \u06f1\u06f8 \u0633\u0631\u0648 \u2192 \u0631\u0627\u0647 \u0631\u0641\u062a\u0646<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n