The mechanical design is finished since few weeks, but I have been waiting some sample of the leg to check the tolerances, quality and color. This sample allowed to check the passage of the cable in the Coxa, the Tibia Cap (anti-slippery pad), servo mounting, etc..
I’m glad I ask I did that before the complete manufacturing because I found several issues. The passage for the cable needed to be deeper to protect it, the Pad was too small to hold in place properly and the color did not satisfied me totally… I’m still waiting for some more sample to compare and chose the final color !
Hopefully the samples will arrive soon, so I can order all the parts to assemble Animabot !
It’s been few months now since I started the design and it is approaching the end \o/. The main body and legs are finally done, but I still have to do a final check of tolerances, clearances, cabling , mounting, etc.. before sending the parts for productions. As mentioned earlier, the design is very close to Rev2, however, the internal structure has been improved to be more rigid and more reliable. On Rev2, I had too much flexibility between parts and torsion on the body (due to the 5 parts body assembly) which basically ruined everything… The legs axles have also been redesigned or better performance and the legs will be equipped with a separate End-Cap (ground contact) with a rubber part to increase adherence.
So, hopefully I overcome all these issues with this version 😀
The ear design is also done and I think it gives a pretty nice look to the robot ! It will gives Animabot much more expression capabilities and at the end it doesn’t look to organic and not too mechanic either which I find to be a good compromise. In any case, it is difficult to make a functional machine looking organic when you have to install real motors, joints, PCBs, cables, etc..
I still have the dock to do, So this will be the next task…
So I received the Motherboard and started populating it 🙂 All components are not yet soldered because I want to test the board step by step, starting with the MCU and the I2C bus (where all the sensors are connected).
As of now, the following is working:
- Flashing-Debugging the MCU
- Flexible OLED via SPI
- 10DOF IMU via I2C
- Eyes via I2C
- Gesture Module
I still have some trouble with the RTOS and the IMU, after some time the tasks start to be delayed and the IMU is not responding anymore… but that will be for later, I want to finish the Body design and send it for printing first ! the next step is to mount the PSU and the Charger.
But now that I have the Eyes working I started implementing some expressions 😉 not so bad for a first try !
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 😉
So it’s been a while since I posted something here… I have been really busy on some other projects which made the progress on Anima very difficult… I still continued the development on the current version but the more I worked on it, the more I was thinking that it could be greatly improved !
The version 1 and 2 have already been done, however I’m not completely satisfied with the current version… The body cut in several parts due to print size limitation kind of destroy the overall aesthetic and weaken the body. Then the concept was oriented towards a exploration/security robot and I figured it would be better to design it more like a companion instead !
This will be the third and last version of this robot… I started this project quite some time ago (in 2001) and I think it is time to at least finish one version of it
The concept is still the same and most of the exterior design will remain similar to the Rev2. However, the hardware and mechanical will greatly improve !
The Hardware design is almost finished and the Mechanical design is approximately 60% completed ! so stay tuned for updates !
Improvements from Rev2:
• SLA 3D printed body
• Overall body design improved
• 4 Layers Single Motherboard for better performance and size reduction
• All sensors are I2C and on the same bus
• Improved battery charger
• Improved Power supply
• Efficient active cooling
• Improved communication between STM32 and Rpi
• 2 axis Head (new feature !)
• 2 Oled display for the Eyes (new feature !)
• 2 moving ears (new feature !)
• Gesture sensor on top the the head for better interactions (new feature !)
• Docking station capable (new feature !)
• Flexible Oled display for robot status (new feature !)
• Hidden Raspberry Pi with moving hood (new feature !)
Components & Characteristics:
• Energy: Li-Ion 11.1V 7800mAh
• Power: Custom 140W PSU based on LM25119PSQ
• Charger: Custom, based on LTC4015
• Brains: STM32F415VGT6 + Raspberry Pi 3 B+
• OS: RTOS + Raspian
• Programming Language: C, Python
• Communication: 2x Bluetooth + WiFi
• Vision: 5Mpx Micro Camera
– 2x 0.49″ OLED for the Eyes
– 1x 1.81″ Flexible OLED for robot status
– Legs: 18x Herkulex DRS-0101
– Hood: 1x KST DS215MG
– Head: 2x KST DS215MG
– Ears: 2x Hitec HS-40
• Sound: 2x 1W stereo speakers + buzzer
– Capacitive touch switch with RGB led
– Gesture sensor
• Control: Autonomous and Remote-controlled
– 1x IMU 10-DOF
– 2x LM75B temperature monitor
– 1x IR telemeter(GP2Y0A21)
– 1x Magnetic switch for charging dock
• Target environment: indoor/outdoor
• Size [LxWxH]: 28cm x 36cm x 16cm
• Weight: 2,5kg
Hi everybody ! it’s been a while… I have been quite busy the past few months and I didn’t had time to really work on Animabot… But I didn’t not forget him and I’m back in game and I will do my best to get this little beast walking as soon as possible.
I have to get back to the Kinematic story which is for me quite complicated but I have a short video for you 🙂
Stay tuned !
It’s been a while since the last post… mostly because my new job is taking away most of my time…
But also because I had to fix several issues in Anima before mounting the legs and the upper body. First I had to fix the sound problem, curiously the IR sensor was generating noise which was propagated up to the audio amplifier, thus generating audible noise… To fix it I added to capacitors (100nF & 10µF) on the sensor’s power connection. Then I burned the Li-ion charger 😦 so I had to replace some mosfet and add some heatsinks.
Finally after 20 months of design, tests, doubts, bug fix, etc… Animabot is assembled and ready to walk !!!
Stay tuned 😉