REPY-1 modules. Version 1.0

by obijuan, published

REPY-1 modules. Version 1.0 by obijuan Jun 9, 2009

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Articulated modules for building modular robots. It is the repraped version of the Y1 modules that I have created for my PhD.
Version 1.0 is the first one. It works and it is 3D printable, but the design should be improved in order to obtain a better printing quality.

UPDATE: 09/Nov/2011
A new version has been released: http://www.thingiverse.com/thing:13442


For building the REPY-1 modules, two 3D objects should be printed: the body and the head. Also, a Futaba 3003 compatible servo is needed, along with six M3 8mm bolts, 5 nuts and 1 washer.
You can have a look at these pictures to see how to build it:


You can see one module in action in this youtube video:


I apologize for my bad English :-(

In this video, you can see the minimal modular robot that can be built using two REPY1 modules:


Here is a very funny video showing the kind of modular robot that can be built if you print more modules.


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That is awesome
…pretty amazing what sort of movement can be made with a very simple (looking) design. I would be curious to see what sort of implementations could be had for this..

a href="http://www.pal-robotics.com/http://www.pal-robotics.com/"
Modular Robots

This is really cool. I have a couple dozen tiny low weight servos that I got on ebay once cheap. I think they are for miniature rc helicopters. A modification of this design that will work with the mini-servos will be quite neat. They are so light, I can probably chain quite a few and still have it support its own weight.

Thanks :-) It is a good idea to change the design for working with other servos

The force is strong with you, my son.

With some added bits you could also create splits and have a humanoid bipedal robot. Perhaps you could even evolve all sorts of creatures by determining the lengths of its limbs, servo configurations, etc. through a genetic algorithm.

You are right, my lord. I can sense the potencial of the modular robots combined with the Reprap machines. Such a powerfull alliance will let us to design any kind of robot, not only snakes. And we will be able to rule the galaxy...

This shows that reprapped parts can be useful in creating your own bot :) Only bad side is that you need a physical connection for the machine to "crawl" around... Good idea btw if you want to reprap your own little snakes :)

Hi Mr_seeker! Thanks you very much. I am glad you like it :-)

I think it'd be fairly easy to build an AVR/PIC-based micro board per-segment, and as long as the battery had enough energy density to drive the servo for an acceptable amount of time, you could modularize the power, too.

As to connections, some magnets like those ones the MakerBot kit comes with might work out well...

Thanks TMR! :) You are right. The magnets can be used for easily attaching and detaching the modules. Good idea!.
Still there are a lot of things to work on. This is only the first version. As you sugested, the electronics can be located in every module as well as the batteries. I am really excited! :)