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 :
For the second version of Animabot I want something different. I don’t want to see the motors or the electronic. I also want him more powerful, more intelligent and more friendly !
So for the design I opted for a full 3D printed body, which allow me smooth forms, and complex shapes. For the design I will inspire me from Norio Fujikawa which has made this one :
The design will be complex to do, but I think I am able to do it 😉
For the intelligence I will use 2 boards :
- The Broadcom BCM2835 ARM11 700Mhz “System On Chip” Processor
- Integrated Videocore 4 GPU capable of playing Full 1080p
- 512MB RAM
- Debian GNU/Linux Operating System
- 2 x USB Ports
- HDMI Video Output
- RCA Video Output
- 3.5mm Audio Output Jack
- 10/100Mb Ethernet Port
- 5V Micro USB Power Input Jack
- SD, MMC, SDIO Flash Memory Card Slot
- 26-pin 2.54mm Header Expansion Slot
- STM32F407VGT6 µC featuring 32-bit ARM Cortex-M4F core, 1 MB Flash, 192 KB RAM
- On-board ST-LINK/V2 with selection mode switch to use the kit as a standalone ST-LINK/V2
- Board power supply: through USB bus or from an external 5 V supply voltage
- External application power supply: 3 V and 5 V
- LIS302DL or LIS3DSH ST MEMS 3-axis accelerometer
- MP45DT02, ST MEMS audio sensor, omni-directional digital microphone
- CS43L22, audio DAC with integrated class D speaker driver
- Eight LEDs:
- LD1 (red/green) for USB communication
- LD2 (red) for 3.3 V power on
- Four user LEDs
- 2 USB OTG LEDs LD7 (green) VBus and (red) over-current
- Two push buttons (user and reset)
- USB OTG FS with micro-AB connector
- Extension header for all LQFP100 I/Os for quick connection
Why these 2 ones ? because the Raspberry is powerful, runs on Linux, is cheap and has an huge community. The second one because it has a lot of pins (breakout board) which allows me to connect sensors and also drives all the servomotors.
This time I made a proper architecture :
The body of Animabot is composed of aluminium. I made the chassis by myself in my garage :
Body fully assembled
Body fully assembled
I started the construction of a hexapod robot named Animabot in 2007. This was a child dream since the serie “F/X: The Series” in which one there is small hexapod named Blue. This robot was considered as a dog, and since I also want my own “dog robot”.
The goal of this project is to have an animated and responsive robot, a robot which can interact with its environment and the people, in the same way as Aibo.
Animabot was first made out of Plexiglas and controlled by a BasicStamp 2e. Then I changed the Plexiglas for aluminium and the BasciStamp for a PIC µC. Trough the years, I have made 7 evolution of the board with a PIC 16 then 18 and finally a 32.
Animabot is autonomous thanks to a rear sensor and a front sensor mounted on a moving head. He can move in an indoor or outdoor environment avoiding obstacles. He is also able to stabilize itself thanks to an accelerometer.
Animabot can be manually controlled by an Android application or a computer software, both done by a Bluetooth communication.
Remote control by laptop :
Obstacles avoidance :