Robot Cloning by DIY 3D printers!
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http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/ Food Living Outside Play Technology Workshop Robot Cloning by DIY 3d printers! by moverstreet007 on January 19, 2013 Table of Contents Robot Cloning by DIY 3d printers! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Intro: Robot Cloning by DIY 3d printers! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Step 1: Download CAD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Step 2: Create .STL files for all of the parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Step 3: Print out all parts on a 3d printer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Step 4: Buy the electronics for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Step 5: Buy your servos for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Step 6: Buy fastners for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Step 7: Assembly Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Step 8: Download software to robot and laptop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Step 9: Turning on robot for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Step 10: Test the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Step 11: Redesign parts that break . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Step 12: Print out new and improved parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Step 13: Reassembly robot with the new parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Step 14: Retest robot with new parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Step 15: Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Step 16: Robot is working! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
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Transcript of Robot Cloning by DIY 3D printers!
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Food Living Outside Play Technology Workshop
Robot Cloning by DIY 3d printers!by moverstreet007 on January 19, 2013
Table of Contents
Robot Cloning by DIY 3d printers! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Intro: Robot Cloning by DIY 3d printers! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Step 1: Download CAD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Step 2: Create .STL files for all of the parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Step 3: Print out all parts on a 3d printer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Step 4: Buy the electronics for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 5: Buy your servos for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 6: Buy fastners for the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Step 7: Assembly Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Step 8: Download software to robot and laptop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Step 9: Turning on robot for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Step 10: Test the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Step 11: Redesign parts that break . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Step 12: Print out new and improved parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Step 13: Reassembly robot with the new parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Step 14: Retest robot with new parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Step 15: Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Step 16: Robot is working! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Intro: Robot Cloning by DIY 3d printers!The DARwIn-OP is a open hardware and software project which greatly added me in doing this project.
DARwIn-OP is an acronym for (Dynamic Anthropomorphic Robot with Intelligence - Open Platform) or DARwIn for short. The DARwIn-OP was developed by the RoMeLaresearch lab at Virginia Tech in collaboration with University of Pennsylvania, Purdue University and ROBOTIS. ROBOTIS is a world leading South Korean robotics’company. Their Dynamixel servos are the leading robotic servos in the world and the key to why the DARwIn-OP is so ground breaking. The lead designer of theDARwIn-OP project has Dr. Dennis Hong of Virginia Tech’s RoMeLa and ROBOTIS. The robot is a state of the art research and development humanoid robot. TheDARwIn-OP weighs in at about 2.9 kilograms and a height of 45.5 cm.
The idea behind this project is to find new and cheaper ways to create and build robots. As 3d printing becomes cheaper and easier to use more and more people willhave access to this way of manufacturing. I hope that this instrucable will open up more peoples eyes as to the power of this new personal fabrication method.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 1: Download CAD fileFirst step was to download all of the 3d CAD files.
Link to file location.
File Downloads
DARwIn OP Part Files.zip (15 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn OP Part Files.zip']
DARWIN-OP_Skin_STP.zip (2 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARWIN-OP_Skin_STP.zip']
Step 2: Create .STL files for all of the parts.I used Autodesk Inventor to create my .STL files, you can use your favorite 3d design software.
If you need a cheaper way try AutoDesk 123D Beta if you can still download it.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
File Downloads
DARwIn-OP STL.zip (19 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn-OP STL.zip']
Step 3: Print out all parts on a 3d printer.I used the UP! Plus 3d printer to print out almost all of the robot, again you can use a 3d printer that you own or have access to. This took me almost two months to get allof the parts printed out correctly.
UP! Plus 3d printer.
The Afinia H-Series: 3D Printer is the exact same printer.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 4: Buy the electronics for the robot.Link to website.
The easiest part of this project.
Step 5: Buy your servos for the robot.Yes the MX-28T servos are expensive but they are state of the art robotic servos. The servos of your robot are alwas the key as to how well your robot will preform.
Link to where to buy them.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 6: Buy fastners for the robot.It may not seem like it but this was one of the hardest parts of this projected. I was added by the detail list in the assembly manual. After a lot of phone calls and e-mailsand internet research I found McMaster-Carr in Chicago was the best place to order fasteners from.
http://www.mcmaster.com/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 7: Assembly RobotThe DARwIn-OP has three very detail manuals that you can download. They are an Assembly, Wiring and Fabrication manuals.
File Downloads
DARwIn OP Assembly Manual.pdf (5 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn OP Assembly Manual.pdf']
DARwIn OP Fabrication Manual.pdf (3 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn OP Fabrication Manual.pdf']
DARwIn OP Wiring Manual.pdf (5 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn OP Wiring Manual.pdf']
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 8: Download software to robot and laptopThe control software is open source and works on windows and Linux.
DARwIn-OP support website.
File Downloads
DARwIn-OP_ROBOTIS_v1.5.0.zip (2 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'DARwIn-OP_ROBOTIS_v1.5.0.zip']
Step 9: Turning on robot for the first timeThis is always a very scary moment when doing this for the first time.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 10: Test the robotThis is also a terrifying moment but it can also bring great joy!
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 11: Redesign parts that breakThis brings out the great advantage of personal fabrication. The ability to make part after part until you get it right or iteration.
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 12: Print out new and improved partsHow cool is it to have a 3d printer of your own!
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 13: Reassembly robot with the new parts.I like building robots so I enjoy this part!
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 14: Retest robot with new parts.This can be boring but it has to be done.
Step 15: LoopDo While ( robot Fails )
{CALL step 7,CALL step 8,CALL step 9,CALL step 10,CALL step 11,}
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
Step 16: Robot is working!If you are like me, you will we always be going back to step 14 because of new ideas or ways to make your robot better.
Total cost for my project was 6000 USD if you don't include the 3d printers that I used. A lot of money yes but if you buy a factory made DARwIn-OP from Robotis thecost is 12,000.00 USD. So I saved about 50% of the cost of the robot by building it myself.
If you are interested in following future upgrades and mods to this robot you can check out my blog.
http://mike-ibioloid.blogspot.com/
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Robot Project ...bySolidWorksMagi
6x6x6 3D print:Delta CNC byRTegelbeckers
http://www.instructables.com/id/Robot-Cloning-by-DIY-3d-printers/
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