MiniPlan V6 - Mason

by ShinWeiChiou, published

MiniPlan V6 - Mason by ShinWeiChiou May 31, 2017


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9185Views 2755Downloads Found in Robotics


There are 19 servo motors that operated MiniPlan V6 and performing different actions.
I used Rhinoceros to draw the mechanical parts and Arduino IDE to code the firmware.
I'm using Prusa i3 along with PLA.
The whole set took about 18~24 hours to complete.
Thank you ~ ^_^

Miniplan - Robot fun (Facebook Page)

Use PLA ( total need about 160g )

Servo : Emax ES08MDII x 18 PCS ( +1 for Head )
Screws : Self-tapping screw M2 x 8mm x 100 PCS , M1 x 3mm x 27 PCS ( from servo )
Bearing : 4x8x3 MR84ZZ x 8 PCS

MiniPlan Motion Editor :

Assembly Instruction :

MiniPlan V6 Download:

Licensed under the Creative Commons - Attribution - Non-Commercial license.

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where i can download the program`s ?

it is possible to control the miniplan v6 mason by a smartphone?

Where can I build the MiniPlan V670 and Power Pack V320 ?

MiniPlan V670 and Power Pack V320
Please , use FB message to ask your question. https://www.facebook.com/miniPlanrobot/

Can someone help me?

I will build the miniplan v6 mason but i can`t buy the electronic parts because I have wright a Mail at [email protected]
but no one answer me

LG: azzlackmm

Which contoler and controlboard do you use?

MiniPlan V670 and Power Pack V320
Please , use FB message to ask your question. https://www.facebook.com/miniPlanrobot/

Hi Kevin. How can I buy the controlboard and the power supply ? I don't have a Facebook account ... Thanks for your reply.

Hi Ploureiro, this is Kevin answering the comment, please send us an email to [email protected] and we'll be happy to provide further services to your request.

Thank you very much Kevin. I'll send you an email right now.


The capacitors do not last very long. Can I replace them with a 9V battery, or a 2 cell Li ion battery pack?


Answering my own question, for others.... The 9V battery didn't work. Not sure why. But a 2 cell lipo battery did! Much longer "playing" time!! Now I have to go to the hobby shop and find one that fits the chest...

Hi Constructor
Thank you for that information. Please let us know which batteries can be used in this project. Do you use which voltage regulator and controlboard? Thanks again.

I am using the control board and the power pack that they sell on facebook, miniplanrobot. I just substituted the 3 capacitors for one 2-cell lithium ion battery pack (7.4 V). I have been using packs I had laying around and it almost fit in the chest. I have to find one that fits or remix the cover...

Hi Constructor, due to the transportation regulations on the Lithium Ion Batteries, we were kinda forced to go with these capacitors, there are more advantages on the capacitors compare to the 2C LiPo batteries that we used to us for MiniPlan V5, but the drawback is the size to volume ratio, thus instead of roughly 500mAh, you are only getting 250mAh on this. We are working on upgrades on this including upping to 380mAh and 5V USB charging, but this will not be out until early 2018.

For the 9V battery, if you are referring to the rectangular 9V batteries, then what you've experience would be correct. Output of these batteries are limited to a certain level, the Caps can draw up to 15C continues maximum and 30C instant, that mean at a 250mAh, it can instantly output to 7.5A of power, this is nothing the 9V batteries can compare to.

For the 2Cell LiPo, it depends on which types you get, if there's a PCM on the battery, then the PCM will limit the output power, but if you are using ones without the PCM, then the battery should easily provide enough power for the robot.

I thought the reason for using capacitors was because of shipping. No worries. Yes, I have 2C without PCM, so they are working fine. I am still looking for a pack that fits in the robot but I think I will just remix the compartment and make it slightly larger. I just need 3 or 4 mm more...

Very nice project! Thank you for sharing it.
How can I buy the controlboard and the power supply ? I don't have a Facebook account (sorry, but apparently I'm not the only person in this situation).

i'll need the MiniPlan V670 and Power Pack V320 can u send

Please , use FB message to ask your question. https://www.facebook.com/miniPlanrobot/

Kevin, I received my control board!! Thank you very much! The servos will be arriving today and I am half way done with printing the parts...

Two questions:

1) In regards to the arduino files, the WROOM v400, v410, and v420... which one do I use?

2) There are two cables that came with the PowerPackage and MiniPlan: one is for power (red and black) which I know what it is for... How about the other cable, that has 4 black wires? I see two sockets on the MiniPlan board...

By the way, I was able to connect to my iPad and laptop!!!! I didn't understand a word you've said on your youtube video but the images help!!!! HAHAHA


  1. Don't upgrade before you build !
  2. Don't mind the 4 black wires , someday you will know how to use.
  3. Please , use FB message to ask your question. https://www.facebook.com/miniPlanrobot/

Thanks! Sorry, I don't have facebook.

But I have another question... I got all the electronics to work. Connected to the wifi and was able to reset and move the servos around. The only thing I cannot do is to use the SETTING page. On the SETTING page, the only thing that makes the servos move is the PWM but I cannot adjust any servo? Any ideas?

Sorry again for not using FB!

AHA!!!!! That is the trick!!!!!! Perfect! I am printing the last part right now (the head - followed the check list, and tomorrow is building day). I will report back. Thanks for the great support and for sharing!! Nice job!!

Hi there,

I know the metal gears are much stronger than the nylon ones. I have many RC airplanes, helicopters, boats and tanks, and 90% of them do not have (nor require) metal gears. In fact, replacing the gear is cheaper and easier than something else.

With that said, do you think this really require metal gears?


the applications that you've experienced with are all without actual loading on them, so you may use plastic geared motors. Many of the joints on this robot will carry loading of its body and limbs, and with loading, the gears flexes will cause the motor trying to stay at the commanded position thus will cause robot to wobble and excessive power usage. The only places that we would say ok to plastic gears might be the palms and the head.

Thanks Kevin for the quick response!! I figured you had already tried!!! Can't wait to start printing and get all the components!!

Take care.

So So Cute :D ! Congrants

This is a great improvement and an amazing work. just received the last update control card and servo
What is the stl files unit mm or inch ?

Thank You !
it's unit mm.


where can I buy controlboard and power supply ? Thx for your reply.


Please , go to our Facebook Page
Miniplan - Robot fun

Wow!! This looks our next big project!!! Very very cool!!! Thanks for sharing!

Soooo, my Chinese is a bit rusty, heheheh, but in browsing the Facebook page (sorry, I am not a facebook user, so I may be missing any easy step) looking for all the electronics needed... Is the TinyPlan V400 all I need (besides servos, etc...)? And how do I purchase it? I do not have a facebook account... I know, I know.

EDITED: Okay, after downloading the instructions, I see I need two boards. One seems to be the TinyPlan v400 (which I guess is some sort of arduino) and the other is the power supply? Again, please, could you better guide me to purchase these two components? Thanks again!!!


Hi, glad you like my projects. You'll need the MiniPlan V670 and Power Pack V320 for this project, we have them in sets including the 8.4V/1A charger, please provide your email and we'll contact you for the purchase.

Wow, this is certainly an upgrade in design of parts from version 5. Well done.
I heard that someone was selling your design online without your permission. I am sorry to hear that. You spent a lot of time designing and testing your robot design. You should be getting any profits if there is any. I hope this does not hurt your work. Steve

Comments deleted.

Thank You !

Can you provide a sample link of the Screws : S2 x 8mm ? Can't find it...The other parts I bought already!

Self-tapping screw M2 x 8mm

Found on the documentation M2 x 8mm so it most be an error here...Will buy this ones!

Perfect!!! Let's the fun begin!!!

Thank You !
Go ~ Go ~