Shoulder for Robot InMoov
Description
Don't be scared or intimidated, I started this a few months ago and didn't even know what was Arduino or a servo motor!
Start with printing the hand like I did, and go on the rest if you feel.
thingiverse.com/thing:17773
Well it's been a long journey creating this shoulder, I have gone through quite many prints for to finally release it.
Blog with more info and instructions:
inmoov.blogspot.com
inmoov.blogspot.fr/p/assembly-help.html
These videos aren't all actual, I have modified some parts in between:
youtube.com/watch?v=W62Wfz1xqYg
youtube.com/watch?v=tojIdfywYVI
youtube.com/watch?v=BAs2F4sFVdA
youtube.com/watch?v=kqG7vASU1YE
Instructions
Follow the step by step assembly instructions on InMoov.blogspot.com (writing on progress, be patient)
You will need to print parts of the torso for to complete the assembly. (not included here, see: Torso for Robot InMoov)
All parts are designed to fit on a 12x12cm print bed, just like the hand.
I have printed all parts in ABS.
With 0.5mm thickness for most parts.
Also most parts have an infill of 30%.
Except "PistonBaseV4", "PivwormV1", "PistonClaviV2" were printed at 0.4mm with a 100% infill.
"PivwormV1" and "ServoHolsterV2" are the only parts printed with support.
Remove prebuild support under "PistonBaseV4" after printing.
Most parts are the same for the left and right shoulder.
The parts named "leftXXXX" are for the left shoulder, easy to figure out...
Print one of each part.
Print two PivconnectorV1 per shoulder
You also need 2 Hitec HS-805BB servo.
A little bit of cables to extract the potentiometers of the servos.
Update 02/03/13 Modified "PivGearV2" to "PivGearV3" teeth are now a bit smaller, avoiding the risk of touching the innercasing. Also modified "PivWormV1" to "PivWormV2", I rounded up the entrance of the worm, for better printing finish. Thanks to Brian for the suggestions.
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Hey Gael!
OK, I'm printing parts for the shoulder (1.31.2013). I finished very good prints on the servoholder (Torso) and pivworm (Shoulders & Biceps) without support. I printed the worm for the bicep with and without support. The Should worms were without support. I did not like fiddling to get good releasing supports and I really didn't like cutting off bad supports. So, I tried sans support - free in the breeze. It worked well. A few strings and nibs but, good. I give an acetone wash to strengthen these parts. Then, have to sand/dremel the bottom edge of the worm gear on both prints. Not much, just to dress and fit them to the other gears.
Gael - I did see where it looked like your support just peeled away - Bravo!
Note: Hand dressing parts for assembly is a normal and expected action with machined parts from manufacturing. With Gael's great designing and published parts any handwork needed is because of plastic or printer issues.
As for printing the servoholster without support. I, by accident, printed the Torso servoholster without support. By the time I came back to look at the printer and the print the printer was half way into printing the mount posts. Since the print was beyond the dangerous overhang point - The print went on only to screw up 3/4 of the way through the mount posts fully printing. I think the item is useable if you omit the top 20-25 percent of the part. There is 3/4 of the round post to give a secure fit into the Torso, probably work on shoulder and bicep also? This is enough to smoothly turn and definitely enough plastic support for the servo. I think.
Anyway, I was amazed at the servo holster mount posts jutting out at almost ?90 degrees nicely printed without support. One side perfect. The other had two little short strings about 2mm long, max..
Say, Mr. Langevin, hairygael, Gael - As always - Thanks for your crazy mind! This IS an experience! Ahhh, living inside History.....
Gee, 18 days you have posted this comment and I didn't see it. Why does Thingiverse doesn't send me email notice anymore?
I'm so glad you can work these parts so easily, It must be actually pretty fun to just download, print and assemble.
I'm surprised you could print Pivworm without support, I should try that to see.
Love to see all your pictures on Flickr, what a work really!
Thanks for posting.
@ Protoprint - How Cool! You finished both arms? Where are the pictures?
Congratulations!!!!
Love your work! I'w made both arms now but can't find the missing torso parts? will you also share the neck and head soon?
I need to find a bit of time for postig the torso, but I will. Neck and will be also posted, but I still need to work on some stuff, like the mechanism for the eye movements, and I'm still working on the design of ears because I definitly have a sound problem due to the environment noise of the servos. Please post pictures of the bicep and shoulder in "I made one"
Great progress! You have a talent for making your robots very human like. I think that your robots and my robots need to get together at some point in the future ;-) I'm impressed by the range of motion and smoothness of actuation, what servos are you using? I'm going to be releasing a new version of the strain wave drive (harmonic drive)
http://www.projectbiped.com/up...
soon that might be well suited for arms (although I'll need to find a faster servo before I can use it with walking robots).
Hi jdow,Thanks for your comment. I don't know what is going on with thingiverse, but since they redesigned their site I don't get mail noticed anymore about comments or even if someone has printed my thing. Very annoying.
I wanted to use harmonic drive at first for the shoulders but, I went for something more simple to build. I'm still thinking of using it in vertebras or hips. What troubles me with it is the number of parts, plus the part that need to deform with rotation. For InMoov I try to minimize parts to print to avoid freaking the builders. I used for the shoulders, two HS 805BB servos. Maybe our robots will meet someday without us in a robot fair.
License
I love your project and I like very much the joints that you have created. I am thinking about creating a scaled
version as it will be much more practical for me ( at the end I want to make it cruising around the house) :)) Any thoughts if that is doable with your design? Thank you for the
great work!
I guess it should be doable, I don't see why not. Your printer will need to be very accurate because the gears, worm drives and some other parts are going to be much smaller. Precision will be your key goal.