PCB stepper motor

... is designed for direct drive wheels for swarm robots

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PCB stepper motor is designed for direct drive wheel for swarm robots

Coils are etched on 4 layer PCB, about 40turns for one coil (8coils).

Thanks to OSH for park support !!!

Check my 2D X-Y linear micro actuator

I am inspired with great project

Instead of printed rotor I am using PCB rotor (3 layers of 1mm PCB and 5x3mm magnets)
middle layer rotor PCB have 1mm smaller diameter and making rim for simple rubber
ring tyre

Board can be easy configured to unipolar or bipolar mode

  •  4 layer 40 turns per coil !

HACKADAY article

x-zip-compressed - 108.16 kB - 04/17/2018 at 06:36


x-zip-compressed - 109.93 kB - 04/17/2018 at 06:35


brd - 267.53 kB - 04/17/2018 at 06:34


sch - 49.11 kB - 04/17/2018 at 06:34


brd - 766.12 kB - 04/17/2018 at 06:34


View all 6 files

  • 6 × MAGNET 5x3MM
  • 2 × bearing SKF623-2Z
  • 2 × Outer PCB wheel
  • 1 × Inner PCB wheel
  • 2 × Coil PCB make magic

View all 7 components

View all 9 project logs

View all 5 instructions

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Vincent wrote 6 days ago point

Hi Peter,

Wndering about smaller coil/magnet size as my project would require only about 20rpm... Engine is too efficient with this setup :)

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28raining wrote 08/03/2018 at 06:40 point

Awesome project Bob!

I ordered one of your PCB's and am using it with an adafruit stepper motor hat on top of my PI. It's spinning :) Now just trying to decide on how to build my custom driver board.

Are you driving the coils with 5V? Did you experiment with higher voltages? Do you know how much on-resistance your MOS switches have (or the resistance of the coil?)

Also, did you experiment with 6mm diameter magnets?

Keep up the good work

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bobricius wrote 08/03/2018 at 07:22 point

Hi, It is amazing to read that this project is replicable. 

I want try new 4 coil board with 10mm magnets, They are in factory now.

Higher voltage produce more heat. Lasth month I was focused on other projects, now I am going back to motor. Resistance of coil you can measure with multimeter. I selected random logic input Mosfet with switching current about 30A but I thing 2A is enough :) I used only 5mm magnets, I have no other dimensions,  just yesterday I received 10mm.

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xihongyuan wrote 07/16/2018 at 01:36 point


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Hari Wiguna wrote 06/14/2018 at 13:59 point

Wow... Just heard about your motor.  Ingenious! Love it!

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Yann Guidon / YGDES wrote 06/13/2018 at 06:57 point

Congrats Bob !!!

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bobricius wrote 06/13/2018 at 12:56 point

Thanks Yann !

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rbruno96 wrote 06/13/2018 at 01:14 point

Congratulations! This is a very creative project; despite of stepper mottors being pretty cheap, sometimes it's better and easier to implement them in PCB. Integrated driver, that's very cool; have you seen dual NMOS SOIC-8 ICs? Maybe using two of them you'l get a smaller PCB and a lower cost, I don't think you need such a high power D-PAK transistors... you could search for a SOIC-THERMAL-PAD package if you think it will heat so much.
In general these SOIC transistors are very good, low Cgs and RDS (i'm talking about tenths of ohms), you should consider them. SMD Attiny are available also. Consider using a 10 ohm resistor in series with MOS gates; this will avoid oscillations when turning the transistors on and off because of the overshoot.
Could you provide us some mechanical measurements? Such as power, torque, acceleration and so? I think here we have a very good oportunity to implement accurate stepper motors in cheap projects (and toys and so).

Congratulations again! keep going!.

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bobricius wrote 06/13/2018 at 07:06 point

Thanks. Stepper tester was half day quick project to test motor. In unipolar mode work much better than in bipolar. I know about smd components I next version I try combine driver and coils on one board. now is separated because driver do not need 4 layer board also I need stack 2 boards for better bearing hold, Also I add 2 more wheels to use wasted magnetic filed from opposite side of board.

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abuse.twink wrote 04/03/2018 at 12:32 point

I take off my hat, it's a very good job, thanks for telling me 192.168.l.l

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Carl Bugeja wrote 03/29/2018 at 16:28 point

Great job :)

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WestfW wrote 03/29/2018 at 07:55 point

Very nice.  Did the usual board shops accept it as a single 100x100mm PCB, or did they charge you for "multiple designs" ?

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bobricius wrote 04/01/2018 at 10:06 point

dirtypcb accept this

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danjovic wrote 03/28/2018 at 22:13 point

Amazing! Can you run it on steps? so you can have a mechanical display! What about adding a second board on the opposite side of the rotor with coils in one board placed in between the coils on the other board, like a hamburger with coils for buns and magnets as the meat.

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bobricius wrote 04/01/2018 at 10:09 point

untested now, I need redesign coils to connect opposite coils, now they are hard wired under board. I had hamburger plan but Chinese bearings are very bad, so for test i connect one board only.

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Duke Circuit Co.,Ltd wrote 03/17/2018 at 04:02 point

what it would be exactly use for?

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bobricius wrote 04/01/2018 at 10:09 point

it is for testing pcb manufacturers :)

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Makerfabs wrote 03/13/2018 at 08:21 point

Great project!~ 

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