The past weeks have been dedicated to the Head design which is coming along nicely 🙂 The head is slightly smaller than the actual version but contains more devices:
- Gesture sensor on top
- 2x OLED displays for the eyes
- 5Mpx Micro Camera
- 2x Servos for Ears
- 1x Servo for Head pitch
The head is divided in 2 parts in order to allow me to assemble the devices inside. Both part are screwed together and for the first time I will be using threaded inserts in order to have proper mounting 😉
The ears design will be done later, I want to have the complete robot designed to see how they fit with the rest of the body.
I already order some samples of the head to see the print quality and tolerances, I’m glad I did it because I already found several errors I have to correct for the final version. I could also do a test fit for the parts and it looks pretty fine as you can see:
The color is not the definitive one and I’m not sure about the Display color… but it gives a pretty good idea of the future look 😉
I finally finished the design of Animabot !
Front side view
Rear side view
Cut view body
Cut view body 2
The next step is to prepare the parts for printing, then I will continue the boards tests and prepare all the cables which are inside the beast 😉
Anyway, a big step has been made !
┏(-_-)┛ ┗(-_- )┓ ┗(-_-)┛ ┏(-_-)┓
It has been a long time since the last post… I have been pretty busy with my job but I have not forgotten Animabot 😉
Few weeks ago I received my boards but there were some mistakes I had to correct… some of the tracks were in contact with the ground plane due to bugs in the Gerber generation…
And I also discovered some issues in the design, so I decided to redo the boards ! I should receive them next week 🙂
In the meantime I worked on the head, I have now an encouraging first version, but I’m not convinced of the “webcam hood” so I will do a second “smother” version 😉
But, in any way I figured out how to integrate the servo for the head rotation, and it seems to works pretty well…
Here is the actual state of Animabot :
Head front view
Head right side view
Head left side view
Internal head gear system
I still have work to do : fix everything inside the head, divide the head in 2 parts for the print/assembly, etc…
He doesn’t look so bad… what do you think ?
Hi everyone ! I just come back from holidays and I have received my electronic boards \o/ (made on SeeedStudio)
I also received some cables and the new speakers. I hope I will have time this week to solder the boards.
There are some problems with the top Silkscreen (some letters are missing) but the tracks are good and the quality is also very good. I think the problem comes from the gerber export which gone wrong at some point…
I finally finished the legs \o/
Left Side View
Now the legs are done, I can concentrate on the integration of electronic boards inside the body and the design of the head which will integrate :
- Night Vision Led
I also made a special shape for the DC IN connector and the 2 interrupters. I decided to use 2 interrupters in order to be able to disconnect completely the battery from all the electronic (safety reason) and the other is used to power ON the command (Pi and STM32F4)
Zoom power cmd
Zoom In power cmd
I hope you like it 🙂
On the last few days I have been finishing the fixation of the servos in the body. I changed the fixing studs for stronger ones. I still have a lot of work to do inside, but first I want to finish the legs.
I have advanced in the femur part, I still don’t know if I will keep this design because the upper part is flat and I’m not sure it combines with the body shape… But however, the servos are fixed inside, the part is relatively compact, and the cables should fit… so it’s not so bad 😉
Femur case outside
Femur case inside
Femur lateral cut
I also have temporally integrated this to the body, to see how it looks like and this gives also an idea of the size : Cool isn’t it ?
I think I will have to make the corners of the femur and the body a little bit rounder for the articulations movements… But I will see that with the articulations
The next step is to create the fixations between the body and the femur with a cable passage inside (tricky part…)
Hi guys, I have been working on the body for 1 week now, the results are encouraging 🙂 I have a definitive shape and volume for the body, and everything should fit inside (normally…)
I also found an effective solution for fixing the servos inside the body, I still have to make some strength analysis in Solidworks to check if everything is Ok.
The body is of course not finished, I have to create all the fixations for the electronic boards, the batteries, the head support, etc…
I have also to be careful with the screws I will use for fixing every parts, because I don’t want to have to cut them because they are too long… I have also to pay attention with the cables : ensure there is enough space for them 😉
The next steps are :
- Design the femur part
- Design the part between the femur and the coxa (articulation on the body)
This is my progression so far :
I started the design on Solidworks of the legs and the body.You can get the servos parts from Hovis and open them in Solidworks.
I made some very accurate plan of the hexapod that I can follow for the design :
This is just the beginning, so the exoskeleton is not yet finished, but this is more or less the future look of Animabot. I have of course to integrate all the electronic parts, and as you can see, there so so much space in that 😉
The hard part is to find a way of fixing the servos on the exoskeleton (I don’t want to use glue or crap fixations) in a way that I can assemble all the hexapod or replace a part in case of damage. I want to be able to assemble/disassemble it with screws (same principle as with a toy or a laptop).
So still a lot of work to do ^^