by Gyrobot, published

Brabeast by Gyrobot Feb 7, 2013


Based upon the famous walking Strandbeest from Theo Jansen ( strandbeest.com ). This is a modular clip together system that is FDM printer friendly. No support required.

I have curved the links in an organic way such that the shape of the leg section looks ahem "bra" like, hence the name.

If you are having trouble with the cranks, try this re-mixed version from Vivifyer: thingiverse.com/thing:207351

See videos :


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I print 200 pla

I just uploaded a new version of the leg section with oversized cranks. --> http://www.thingiverse.com/thi...
seems to work quite well, as I too had trouble with the original design. Hope it works for you as well.

Amazing design, since ordering my 3d printer 18mths ago I have always planned on printing a Strandbeest.... However for me this model was Infuriatingly difficult (impossible) to assemble! I wanted this to thing to work so badly, but I have spent days printing all the parts (ABS at .1mm layers on Solidoodle2 with tweaks) and assembling each leg section (using my replacement leg pins which work a treat) only to find I cannot for the life of me get the hex bits that make up the camshaft to join reliably. I have spent hours trying to squeeze them on and the best I got were two connected (ish) before they fell apart while trying to connect the next one. (I am printing the 'plate leg section' using the new 'improved' design). I tried using PLA but the results were 10x worse (my printer isnt really tuned for PLA). I might come back to it and try a drop of super-glue on each hex join, but for now it's going on the backburner as it's annoying me too much. :)

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14/02/2013 EDIT : Increased SPACER.stl length by 0.5mm, thought the legs were a little too loose as a result.
03/03/13 EDIT : Uploaded the Fan Drive Module thingiverse.com/thing:56542
03/03/13 EDIT : Uploaded YouTube video, see description.
31/03/13 EDIT : Due to user feedback I have increase the crank shaft diameter. Updated CRANK_ARM, CRANK_SHAFT, UPPER_LINK, INNER_LINK and PLATE_LEG_SECTION.

Printing instructions :
1 x PLATE_LEG_SECTION.stl rinse and repeat for however many legs you want to fit onto this beast (3,6,9,12 etc).

Full Bill of Materials (separate stls included):


(For each leg section, rinse and repeat) :-

Assembly Instructions:

Please assemble according to BRABEAST LEG SECTION.stl and BRABEAST.stl (view in Thingiview)
Note: The crank shaft angle for each leg has to be indexed according to the previous leg's crankshaft angle. This is achievable by the hexagonal crank shaft hole clipping onto the previous leg's hexagonal shaft. You can either index it 120deg for a short beast or 60 deg for longer beasts.

Some tips : Maybe a dab of glue may be required depending on your printer calibration and clipping together of leg sections. You can scale the pins down if they are too tight for you.

This is still a work in progress because I am busy printing off more leg sections to assemble this beast together. I will design a series of modular add ons, fan drive, hamster ball drive etc, so watch this space!!!


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Vivifyer on Dec 10, 2013 said:

Awesome design, but I've had a few problems getting it walking, the pins were super tight, my fingers still hurt haha, so I resized the width, which helped greatly and freed up the leg articulation, but now the hex end of the crank shaft adapter is rounding off really easily, after one turn. Going to make a design change to that to see if i can make a more solid connection. Printing with PLA.

zpj on Nov 30, 2013 said:

I think I can scale it though

zpj on Nov 30, 2013 said:

How big is the entire Plate_leg_section.stl

Gyrobot on Nov 30, 2013 said:

The Plate_leg_section.stl is 137.02mm x 115.93mm x 26mm

zpj on Nov 29, 2013 said:

how big are the biggest parts(excluding the fan)? I have a relatively small 3d printer

Gyrobot on Nov 30, 2013 said:

The fan is the largest part by far, I would say the next largest is about 70mm long by about 20mm wide.

robaktime on Nov 12, 2013 said:

Printing extremely well for me at .8 infill. .2 layer height.

The entire plate and the towers are near perfect. Nice job!
Now lets get that hamster wheel powered. :)

zpj on Nov 29, 2013 said:

I have seen a hamster wheel powered version of a similar mechanism

unknownsector on Aug 11, 2013 said:

currently attempting to print this. the towers on some of the pieces seem to end up brittle and breaking off. i thought it might have been temperature causing bad layer adhesion, but i'm doing 190 with PLA. Going to tinker with the print speeds and see if it helps. can't wait to see it in action. Doing 0.25 mm layer height, 0.2 infill, 25 mm/s perimeter, and 40 mm/s fill

Gyrobot on Oct 12, 2013 said:

I print 205deg PLA. If you are having trouble with layer delamination, try squeezing some "supaglew" around the base of the towers and leave to go hard, this should make the taller towers a little tougher. I also printed the taller parts several at a time to allow the PLA to go hard between each layer otherwise it goes a bit "mushy" near the top as the heat builds up from the nozzle.

CrazyJaw on Aug 4, 2013 said:

I love these walking machines ( i have a dream of someday making one that can carry me around)

Ever tested the feasibility of having the leg assemblies print pre-assembled?

Gyrobot on Aug 4, 2013 said:

That is entirely possible with what I have learned since starting my 3D printing adventure. I will think about making it a derivative, because I there is still much fun to be had with the assembly process of of a Brabeast kit.

Andychn on Mar 29, 2013 said:

Assembly was way too difficult. The weak point is the pair of parts that are the cranks. A little tiny hole holds them together. Too bad.

Gyrobot on Mar 31, 2013 said:

See new edits for increased crank and hexagonal hole diameters. Hope this works for you, let me know?
Cheer, Steve.

Gyrobot on Mar 30, 2013 said:

Hi, thank you for the feedback, I did worry about this connection, but it has been robust on my model therefor I uploaded the design. Let me increase the size of the hexagonal hole and key. The instructions mention souperglew to keep these together, have you tried this option? I agree assembly is tricky and fiddy but in my view that's part of the model making challenge. Thanks, Steve

Andychn on Mar 2, 2013 said:

A VERY fun build and a good result. GREAT JOB!!! Thank you!
To really see it walk it will need a large drive gear to get the needed torque as well as an overhead gantry for a propulsion device.

Gyrobot on Mar 2, 2013 said:

I have the fan drive now working with a super high ratio in line planetary gearbox fitted. This will be uploaded in the next few days. Watch this space. Do you have any pictures?

pawaller on Feb 27, 2013 said:

Fantastic, thank you! This will be my next build. Has this model been successfully printed out using PLA?

Gyrobot on Feb 27, 2013 said:

It certainly does work in PLA see photos, however I have a sneaky suspicion that individuals printer calibration will decide whether the mechanisms are sloppy or tight. So I expect a raft of complaints as other printers may have problems. If its too tight, scale the pins down a tad.

adamrw91 on Feb 20, 2013 said:

wheres the windmill attachment?

Gyrobot on Feb 21, 2013 said:

It's in design, I have prototyped one version which sort of worked but it needed better gearing. I have now moved onto another version. Watch this space.

ComradeQuiche on Feb 20, 2013 said:

Is that a rendering superimposed onto the build platform?

Gyrobot on Feb 20, 2013 said:

Quite right Comrade. I render my models in CATIA with a photo of my build platform behind. Brings a splash of green to the Thingiverse sea of blue.

Lenn on Feb 9, 2013 said:

Tried printing it but it has problems:-2 x OUTER LINK (YELLOW) only has one in the PLATE_PRINT_ONCE.stl
2 x OUTER LINK (YELLOW) and 2 x LEG (MAGENTA) in PLATE_PRINT_ONCE.stl have holes much to small to fit the pins, the holes appear to be sized to fit the 1 x BEAM (DARK GREEN) shafts.

Gyrobot on Feb 9, 2013 said:


Thank you, I have added an extra OUTER LINK (YELLOW) into the PLATE_LEG_SECTION.stl

I have increased the hole diameter in the LEG (MAGENTA). This was my fault, after I had printed out my first leg section, I thought the pins may be a little small and fiddly for some to print, therefore I increased the pin diameter and all the holes, so I thought, oops!!!!

However I believe the hole diameters in the OUTER LINK (YELLOW) to be correct, is it assembled the correct way round, The diameters should be 6mm with a diameter 7 countersink on one side?

Many thanks for letting my know your issues, overtime I'm sure these teething problems be fixed.

Crypto on Feb 8, 2013 said:

Thanks for doing this! It's been on my to-do list for quite a while. My MB is still down though for repairs. I'll print it soon though!