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Shoulder for Robot InMoov

by hairygael, published

Shoulder for Robot InMoov by hairygael Jan 2, 2013

Description

Here is "InMoov", the robot you can print and animate. You have a 3D printer, some building skills, This project is for you!!
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

Recent Comments

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Your best option is to download the files and have a local printer owner make the arm for you. The next cheapest option would be to build a printer and make it yourself.
Hello. I am from Chile and study Civil Electronic Engineering. I would like to buy an Arm, to be able to make it to work with Servo Motores. Since I can buy?, I wait could help me. Regards from Chile

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Instructions

THIS IS A WORK IN PROGRESS FILES MIGHT STILL CHANGE.
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.
Update 07/07/14 Modified "PivGearV3" to "PivGearV4" teeth are now angled, and the cylinder has smooth external surface. There is openings to run cables within the gear.
Hello. I am from Chile and study Civil Electronic Engineering. I would like to buy an Arm, to be able to make it to work with Servo Motores. Since I can buy?, I wait could help me. Regards from Chile
Your best option is to download the files and have a local printer owner make the arm for you. The next cheapest option would be to build a printer and make it yourself.
Hello, I have looked on thingivers.com and inmoov.com I had to register for inmoov.com.
Anyway my question is where is the chest center with you logo??? I have all done except the arms and hands, I have a robot with a hole in it's chest, Is there anther chest center??? Or where is the old one??? Thanks Ron, Anyone please help?
I believe it's ABS that I'm using as well, Thanks Ron.
You can make a test to see if it is ABS. Try using Acetone or nail solvant to see if it dissolve and glue the material.
i have built the shoulders, I will post pics soon. thanks Ron
ok what is it abs or pvc? I use 1.75mm that I buy on e-bay in differant colors, with my 3d printer, I really don't know what is what? Thanks Ron
what kind of greese are you useing with the pvc??? Thanks Ron.
Hi, I'm using standard grease for bearings without graphite, but my parts are printed in ABS not in PVC.
Found the new worm gears they are much better. Thanks Ron.
I am printing the shoulders, having a problem with the worm gear, very sloppy print, lot of clean up and still not real good?
your instructions say you have updated the worm gear? but I can't seem to find it? Thanks having fun with it Ron.
In the instructions I recommend to print the worm gear with support, I'm guessing you didn't. The most recent Worm Gear is in the downloads.
I'm sure glad you are having fun, because I do!
Is there a ServoHolsterV2 or is it V1 like you have listed in the thing files? Thanks
The parts to download are the most recent, I may have done a mistake writting V2
what are the clavi front and back for?
sorry Thingiverse didn't inform me of your question. These parts are to mount the shoulder mechanism to the Torso ov Inmoov
I'm thinking of starting this project, is anyone doing it with PLA. If so, is it working out OK ?
Hi, there is already quite many prints of InMoov done in PLA, check on the forum.

ABS is easier to use and stronger for it, but have a look at the version in PLA of Jha, he got great results.

Jha's video: youtu.be/ugJhzGA84VY
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.
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!!!!
Hi Brian!!
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"
I can't seem to find the torso parts either.
On the inmoov website/download you will find all the links. Some of the InMoov parts are not on Thingiverse but on CubeHero.
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/updates/blog/strainwavedriveprototype
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.
It is really a great project! Very impressive!
Thanks!
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