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Brabeast

by Gyrobot, published

Brabeast by Gyrobot Feb 7, 2013

Description

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 :
youtu.be/PdvfL4GfMk0
youtu.be/vUjEQ_0bEqg

gyrobot.co.uk
facebook.com/gyrobotuk

Recent Comments

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I print 200 pla
I just uploaded a new version of the leg section with oversized cranks. --> thingiverse.com/thing:207351
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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Instructions

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_PRINT_ONCE.stl
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):

1 x END BEAM (DARK GREEN)
1 x CRANK SHAFT ADAPTER (BLOOD RED)

(For each leg section, rinse and repeat) :-
1 x BEAM (DARK GREEN)
1 x CRANK ARM (LIGHT GREY)
1 x CRANK SHAFT (LIGHT GREY)
2 x INNER LINK (DARK BLUE)
2 x LEG (MAGENTA)
2 x MID LINK (LIGHT GREEN)
2 x OUTER LINK (YELLOW)
8 x PIN (WHITE)
2 x SPACER (DARK GREY)
2 x TRIANGLE BRACE (LIGHT BLUE)
2 x UPPER LINK (LIGHT RED)

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!!!
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.
I think I can scale it though
How big is the entire Plate_leg_section.stl
Gyrobot - in reply to zpj
The Plate_leg_section.stl is 137.02mm x 115.93mm x 26mm
zpj - in reply to Gyrobot
I can fit that on my printer with a little bit of scaling because mine is a 10cm x10cm x 10cm
Gyrobot - in reply to zpj
You can of course print the parts separately without scaling on a 10cm x 10cm x 10cm bed.
how big are the biggest parts(excluding the fan)? I have a relatively small 3d printer
Gyrobot - in reply to zpj
The fan is the largest part by far, I would say the next largest is about 70mm long by about 20mm wide.
zpj - in reply to Gyrobot
Ok. That will fit on my printer.
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. :)
I have seen a hamster wheel powered version of a similar mechanism
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
Hi,
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.
zpj - in reply to Gyrobot
I print 200 pla
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?
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.
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.
See new edits for increased crank and hexagonal hole diameters. Hope this works for you, let me know?
Cheer, Steve.
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
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. :)
I just uploaded a new version of the leg section with oversized cranks. --> thingiverse.com/thing:207351
seems to work quite well, as I too had trouble with the original design. Hope it works for you as well.
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.
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?
Fantastic, thank you! This will be my next build. Has this model been successfully printed out using PLA?
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.
wheres the windmill attachment?
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.
Is that a rendering superimposed onto the build platform?
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.
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 - in reply to Lenn
Hi,

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.
Thanks for the update. Tried printing PLATE_PRINT_ONCE.stl again, only one problem left. One of its yellow outer links is correct the other has very small holes. The OUTER_LINK.stl is correct.
Hi Lenn, I am now at a loss, I can only think it is a slicing problem, are you using Skeinforge? Check out new image toolpath.png, that's how things look and print off using Repetier and Skeinforge. I know that's no consolation and I'd be interested if others have a similar problem (or not)? Feel free Lenn to email any images of use to steve.wood at gyrobot.co.uk
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!
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