Simple Servo Bed for InMoov

by Gael_Langevin, published

Simple Servo Bed for InMoov by Gael_Langevin Mar 24, 2013


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

This is another servo bracket which I did for to get more developpement pulling when the pulleys are rotating. Hopefully even servos with a restricted rotation from 0 to 90 will be able to get the fingers fully moved. (HK15298)

It can fully replace this

Blog where you will find all the instructions about InMoov's project:

Some videos:


I haven't printed this yet because, I don't need it, but since a while I wanted to set in 6 servos in the forarm. With this method we can have an extra servo to actuate the thumb rotation, if wanted.
You can add this:

Print one of each STL.
LeftXXXX parts are for the left arm.
No support needed, better with no raft.
I made a test print for the "RobRings" at 0.25 thickness, it works but if you have a printer with higher resolution it will be better.
You will need to remove all other servo brakets in the previous printed "robparts" to fit in the "RobServoBed"
The "Robparts" available here are meant to become covers without brackets for servos.
Please check my blog in the section Brackets assembly +modifications to robparts to understand:
It can fully replace this:

Update 25/03/13 Sorry guys I had uploaded the wrong RobServoBedV1, holes for wiring the servos weren't on it. Thanks to Peter Heim for the remark.

Update 27/03/13 I really will not upload things without printing them and trying them before.
One fo the back servo was set too high and would bind in the cover when using RobServoBedV2. Modified it to RobServoBedV3. You can, by cutting plastic, lower down the servo to ground zero if you don't want to re-print it. (the task might not be easy)

Update 09/06/13 Modified RobServoBedV3 to RobServoBedV4. Enlarged the cavities for easier pass through of the servo cables.

Update 12/12/13 Modified RobServoBedV4 to RobServoBedV5. I added screw holes to fix the servobed inside the forarm

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Can anyone answer a few questions please?
What were the measurements used for the pieces when they were first printed (in,cm,mm)?
What kind of material does the 3D printer use?
What kind of screws (and other tools) are suggested to be used?
I'll be needing this info for a middle school project so if you would answer it would be great help:)

Hi Gael, one thing is not clear to me:
parts 3 and 4 are meant to be glued but the servo bed has to be placed inside parts 2 and 5, is this correct?
I really had a hard time attaching part 3 to 4 and I'm not sure if this is due to the printing or some misunderstanding in the process.

Hairygael awesome job.
Sorry to bother at all but I really would like to know which software did you used in the first snapshot, looks like a scketch of the 3D model... Thanks for sharing all your job.


Hi, yes it is imported STL's into SketchUP.

Thank you, in my opinion its a very good look for a presentation or portfolio. I tried to use it but I was not allowed to import STL into Sketchup free version...

Best Regards!

I don't suppose anyone has considered Remixing this for the TowerPro FS90 servos for a smaller profile arm?

I have for the MG90s, I would not use the FS as the plastic gears just can't hold the weight.

Comments deleted.

Hi Gael,

First off I would like to say awesome project.

I have been trying to put together the parts and have just realized that my servos (HK15298B) do not fit in this servo bed. I am a bit surprised at this at these are the servos you recommended. Has something changed or am I simply using the wrong servo bed?

I need 2.5-3mm more space in order to fit it height wise.


Hi, your printer must be printing a bit smaller the parts. Did you fine tune it to make sure the printed parts correspond to the correct dimensions.
Also, if happen to use a Makerbot, using 3 shells, expends the perimeter of the parts in some cases. The HK15298B should fit within the bed.

Hi Gael,

Thanks for replying.

The 3D printer I am using is a Makerbot Replicator 2, so it should be pretty precise. I am printing in PLA and I think I used 2 or 3 shells with a 20% or 30% infill.

If I measure it across the end section, that houses two servos, I measure 53.3mm. The height of the tallest support in that end is 29.4mm. Distance from base to top of tallest support is 27.0mm.

My servo is the HK15298B. Distance from bottom of bracket to bottom of servo is 29.0mm. Width and length of servo is 20.0mm x 40.0mm.

I do not think shrinkage is the issue here, but different servo dimensions might be. Could you check yours perhaps? And maybe also what the dimensions of the piece at the positions I specified should have been?



For the Left Servo Bed, for the three motors on the bottom row, one of the motor is unable to send the wires through the slit that was created on the side. The problem is that the wire joiner is too big to fit through the slit. Why is the slit on the left different from that on the right? Thank you for your help

Parts aren't different, if I remember correctly, I mirrored the right side to become the left side.
Are you using the recomanded servos? Anyway you should be able to use a knife or a Dremel to work your way through.
Hope you work it out!

Wow I didn't actually expect to get a reply from the creator so soon, feels like I'm speaking to robot god right now. When I said that the parts are different, I was referring to the slit created for the left servo bed to fit through the wires for the bottom three motors. The slit is different for the two sides. Maybe it is because our motors are different, but I found myself impossible to send the wires through those slits. But for now I will just create a larger opening, but ultimately maybe the design should be made so that the slits are the same on both sides.

Would you mind to post some pics on the forum of the details differences you are referring to? It would help me to see what you mean.
Forum: http://groups.google.com/forum/#!forum/inmoov

Hey i was curious to see if the servos i have will fit this design. I have hitec 425BB standard size servos

Hi, this project is just fantastic. I cant even stop thinking to build one, also, i would really love to contribute to it. Since i am quite noob to robotics, hope i can learn and do sth while building it from scratch. Again, many thanks to hairygael to bring this guy to the planet. :-)

Hi, once again a comment that wasn't brought to my attention by Thingiverse. Well I do hope you can help us improve this guy, and I hope to see your prints around.

I just found this and I am very excited, I am very limited with money but at least I want to learn and get as much information possible. Can anybody tell me what would be my starting point on this? I mean getting a 3d printer? learning about servos? about programming? don't know. Any help please by the way this is an awesome job.

Hi, I'm glad this is a project that interest you, for more info overall, you can go on my http://inmoov.blogspot.cominmoov.blogspot.com blog and also on the forum, where you can get help by other builders and I.

You've come back to thingiverse. it is a bit quiet over at cubehero ;) really enjoying following this project. thanks for all your hard work

I alternate, a bit here, a bit there.

Nice work will make work on the servos easier
the only problem is there is no clearance for the servo wiring which puts the structure (and wiring) under strain

Ooops! I had uploaded the wrong stl. Clarified now.
Thanks for the prompt comment.