by avalero, published

ProtoBot by avalero Feb 28, 2012

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The ProtoBot is a basic prototyping minimum robot developed in OOML (v2.0) (Object Oriented Mechanics Library) http://iearobotics.com/oomlwiki

The robot was inspired by:

  • MiniSkyBot: http://www.thingiverse.com/thing:7989
  • Scout Robot: http://www.thingiverse.com/thing:13042

It is designed to mount an Arduino UNO and a protoboard, so the users can add all the electronics and sensors they may want.

The body takes less than 2 hours to be printed on a MakerBot TOM.
The wheels included in the ProtoBOT are derived from the MiniSkybot wheels (http://www.thingiverse.com/thing:7989) designed by ObiJuan (http://www.thingiverse.com/obijuan)

A list of other available wheels is:

  • http://www.thingiverse.com/thing:9071
  • http://www.thingiverse.com/thing:9204
  • http://www.thingiverse.com/thing:18377

As a castor wheel it uses a Ball Wheel Holder, inspired by the Scout Robot (http://www.thingiverse.com/thing:13042). The diameter of the wheel is typical in Spain (16mm aprox). For different diameters you can easily change the cpp code of the Part.

First Motion Test: http://www.youtube.com/watch?v=3n87DS0lhV8

The ProtoBOT has been designed by:

  • Mario Almagro: http://www.thingiverse.com/mario_al
  • Nieves Cubo: http://www.thingiverse.com/nicuma
  • Alberto Valero: http://www.thingiverse.com/avalero


Generating STL files

  1. Install the OOML following the instructions of http://iearobotics.com/oomlwiki
  2. Compile the ProtoBot using cmake (you must set the OOML include dir and OOML Libraries dir)
  3. Run the protobot build program. It will generate the OpenSCAD files.

Mounting the Robot
The Robot is printed in three parts:

  • Main Body: protobot.stl
  • Wheels: 2xwheel.stl
  • Spacers: spacers.stl


  1. Mount The Arduino and the Protoboard on the main body using the Spacers and 3mm screws. The holes are already done.
  2. Mount the Futaba S3003 Servo Motor on the sides of the body. You have to hack the servos as explained in http://www.kronosrobotics.com/an116/GAN116_3003.shtml
  3. Place a 9 Volts Battery at the back of the body. The connectors should be on the open space.
  4. Place the spherical wheel (you need to force a little bit). The wheel should move freely.
  5. Mount the wheels on the servos.

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protobot the file does not open

all the software I used your protobot file error

all the software I used your protobot file error


What type of batteries are you using to power the bot? With the ones I got from the store the power constantly drops when servos are powered and rests the arduino. It works fine on USB power though.

Hollo. You can use 9Volts batteries like this: http://upload.wikimedia.org/wikipedia/commons/thumb/8/8d/Duracell_9_Volt_0849.jpg/200px-Duracell_9_Volt_0849.jpghttp://upload.wikimedia.org/wi...

With those it has been tested and works. You have the exact space to place them on the bottom, below the chassis.

I myself use a LiPo battery with 2 cells ans 1.2 AH. And I place it under the Arduino board.

Hi Alberto, We made one protobot!! it calls JuanPaBot and it is under development. We don't have US sonar pictures but let us some time more and it will become better than yours, you know it!!

You'll have to demonstrate that!

Wanted to add (even though it was mentioned in the objects you derived it from, but I somehow missed it) the step:

4) Hack the servos (so that they can turn 360 degrees)

One Google hit I found for that was here:

you may want to check the ProtoBot sensor plugin: http://www.thingiverse.com/thing:19555http://www.thingiverse.com/thi...

Sensor Plugin for ProtoBot
by avalero

Thanks jkeegan, you were right, I assumed that step, I update the instrucions. I Hope you enjoy the printbot. I am updating it with range sensors, I will upload it as soon as I check the parts fit well with the sensors.