Six legs, three MG996R servos each (coxa, femur, tibia), on a hexagonal body printed in two halves. An Arduino Mega on a printed tray drives all 18 servos from one sketch: a six-phase ripple gait, straight ahead, no turning or remote control.

Parts

All eleven printed parts are parametric CadQuery scripts, each within 0.03 mm mean deviation of the published STL. Servo cases, horns and the Mega board are included as nominal envelopes.

Part	Qty	Part	Qty
leg_mount	6	base_1, base_2	1 each
coxa	6	mounting_post	2
femur	6	mega_mount, top_cover	1 each
tibia	6	hat_1, hat_2	1 each

Kinematics (hexapod.ino)

FEMUR_L 60 mm   TIBIA_L 95.334 mm   TIBIA_ANGLE 17.543 deg
servo zero offsets J1/J2/J3: 45 / 0 / 90 deg
pins 23-40, pulse 600-2600 us, step radius 15 mm

Bill of materials

18 x MG996R, Arduino Mega 2560 + sensor shield, 3S LiPo, 9 V battery for the board, M2/M3 screws, ~700 g PLA.