Hexapod Mochi 3D Printing and Assembly

Overview

Follow these steps in order for the best results:

1. 3D Print all parts (see parts list below)
2. Prepare hardware (organize screws, nuts, bearings, and pins)
3. Assemble body (install servos and controller)
4. Build legs (joint → leg → foot for each leg)
5. Attach legs to body
6. Wire and test (connect servos, upload firmware, calibrate)

⚠️ Important: Do NOT tighten the servo horn screws during assembly! Leave them loose to allow for rotation. You’ll tighten them properly during the calibration process after adjusting each servo to its correct neutral position.

Step 1: 3D-Printed Parts

Print Settings Recommendations:

• Layer height: 0.2mm
• Infill: 20-30%
• Material: PLA or PETG
• Supports: Required for some parts (check STL orientation)

Step 1.1: Body Components (x1 complete body)

Assembly Tips:

• Install servos before closing the body
• Route wires neatly to avoid pinching
• Test fit all parts before final assembly

Filename	Thumbnail	Required #
body_base		1
body_side		6
body_top		1
body_head		1
body_battery_top		1
body_servo_side		12

Step 1.2: Joint Components (x6 total: 3 standard + 3 mirrored)

Important: Pay attention to joint orientation! Three legs use standard joints, three use mirrored joints.

• Left side legs: Use mirrored joints
• Right side legs: Use standard joints

Refer to the fully assembled robot images for correct joint orientations

Filename	Thumbnail	Required #
joint_bottom		12
joint_cross		6
joint_top		12

Step 1.3: Leg Components (x6)

Assembly Notes:

• Ensure bearings are properly seated
• Pins should slide in smoothly without forcing
• Check for smooth joint rotation before proceeding

Filename	Thumbnail	Required #
leg_bottom		6
leg_side		12
leg_top		6

Step 1.4: Foot Components (x6 total: 3 standard + 3 mirrored)

Important: Match foot orientation with joint orientation!

• Left side legs: Use mirrored feet with mirrored joints
• Right side legs: Use standard feet with standard joints

Refer to the fully assembled robot images for correct foot orientations

Filename	Thumbnail	Required #	Note
foot_bottom		6
foot_top		6
foot_ground		6
foot_tip		6	Recommend to print with TPU

Step 2: Hardware Components

Pro Tip: Organize all hardware into labeled containers before assembly to save time!

Name	Spec	Required #	Usage
Screw	M2 × 6mm hex socket	36	Servo mounting
Screw	M2 × 12mm countersunk	180	General assembly
Nuts	M2 hex nut	216	Securing screws
Pin	M4 × 6mm stainless steel (304)	18	Joint pivots
Bearing	MR74-2RS (4mm ID, 7mm OD, 2.5mm Bore)	18	Smooth joint rotation

Where to Buy: These are standard metric hardware available from Amazon, AliExpress, or local hardware stores.