Like I said on the forum two weeks ago, after the request of builders without printers, I contacted a Printing service which I work with sometimes, I knew their prices would be high...
So, I finally got prices from them. The news isn't so great.
Prices are too high to my taste. Way too high.You might as well buy yourself a printer and start printing, you would be better off. The two arms + torso comes in a range of 3000 euros.
The goal of InMoov is to be built at a reasonable price for most DIYers.
While printing on your own machine there is the cost of electricity and materials of course. Time consuming doesn't cost you if you do this for the fun (that's the way I see it), but a printing service takes that in consideration and the price goes way up.
Now I'm up with another option, but I still need to gather more details about it, because it is a big step.
We will see in a few weeks if this new plan is viable.
In the meantime, I started to work on a leg for the fun.
2013-02-11
2013-02-06
2013-02-05
InMoov Vision Tracking
Last night I made a test after Grog from MyrobotLab has been improving the service tracking for InMoov.
It works pretty well out of the box, I am always amazed how Grog can do those modifications. The movements are rather smooth. If I move the object too fast, InMoov loses the track, so there is a bit of tweaking to do, but there is solutions.
The movement of the head uses only two servos for now, up/down, left/right. There is another servo (HK15298) for to actuate the jaw, but it isn't actif yet. Then two small servos (XGD-11HMB) will be used for to actuate the eyes/camera. I haven't tried these small servos yet, but they can actuate 3kg at 6V, it should be enough. It means later, four servos will be using PID controlled for the vision tracking.
We should get further very soon I think.
It works pretty well out of the box, I am always amazed how Grog can do those modifications. The movements are rather smooth. If I move the object too fast, InMoov loses the track, so there is a bit of tweaking to do, but there is solutions.
The movement of the head uses only two servos for now, up/down, left/right. There is another servo (HK15298) for to actuate the jaw, but it isn't actif yet. Then two small servos (XGD-11HMB) will be used for to actuate the eyes/camera. I haven't tried these small servos yet, but they can actuate 3kg at 6V, it should be enough. It means later, four servos will be using PID controlled for the vision tracking.
We should get further very soon I think.
2013-01-25
Stand Holder for Torso
This thing was made for my previous torso and someone on the forum requested it for download.
Unfortunatly the torso has been redesigned since then.
So tonight I pulled myself on the front of the screen, launched Blender and modeled this new part.
Never tried it though, so use it carefully.
It's the green part on the picture, handy stuff, you can now set InMoov on a broomstick.
Ahh, I wish it could already clean up my shop!!
Stand HolderV2
Unfortunatly the torso has been redesigned since then.
So tonight I pulled myself on the front of the screen, launched Blender and modeled this new part.
Never tried it though, so use it carefully.
It's the green part on the picture, handy stuff, you can now set InMoov on a broomstick.
Ahh, I wish it could already clean up my shop!!
Stand HolderV2
2013-01-20
Torso for InMoov on Cubehero
Hi all,
The torso parts, which allows you to make the junction between the two shoulders and the neck, are uploaded on Cubehero for the moment.
I'm trying to see how that works.
Of course for now the site doesn't look as fancy, compared to Thingiverse, and has some problems to be solved. I can't remove a part that was uploaded by mistake. (It's the one with no thingiview image)
But the guy that runs it is very responsive.
https://cubehero.com/physibles/hairygael/Torso_for_Robot_InMoov
For the building of those parts, check the Tab "Assembly help", it is explained with the shoulders construction.
When I will have a bit of time I will add some sketchs.
My troubles with power supply are completly gone since I use the batteries. Remember in a previous post, I had jittering servos which would move erraticaly.
No more of that, I can really focus on the next parts.
The good news about battery powering, is that it makes InMoov independant for the days he is going to walk around.( Well if he ever walks around...)
The torso parts, which allows you to make the junction between the two shoulders and the neck, are uploaded on Cubehero for the moment.
I'm trying to see how that works.
Of course for now the site doesn't look as fancy, compared to Thingiverse, and has some problems to be solved. I can't remove a part that was uploaded by mistake. (It's the one with no thingiview image)
But the guy that runs it is very responsive.
https://cubehero.com/physibles/hairygael/Torso_for_Robot_InMoov
For the building of those parts, check the Tab "Assembly help", it is explained with the shoulders construction.
When I will have a bit of time I will add some sketchs.
My troubles with power supply are completly gone since I use the batteries. Remember in a previous post, I had jittering servos which would move erraticaly.
No more of that, I can really focus on the next parts.
The good news about battery powering, is that it makes InMoov independant for the days he is going to walk around.( Well if he ever walks around...)
One battery is enough to power all the servos, I had bought three, so I'm using all three.
They are very cheap, I found them on a special offer for 8 euros each.
This is great! I found it in my street, someone had dumped a desk chair with wheels, although it is forbidden to dump in the streets.
At least it made a happy finder.
I removed the seat, added a metal tube I had laying in the workshop. It's a super stand for InMoov until he gets his own wheels or feet.
2013-01-03
2013-01-02
Shoulder InMoov for New Year, 3d print it!
Happy New Year to all of you crazy robot fan and builders!
I have a little present for you ready to download. You should be abble to build the shoulder with succes if you follow the tutorial I am going to post in the Assembly Help tab.
I know some of you have been waiting, but I had to redesign and reprint this a few times before to finally get it the way I like it. My initial design and prints didn't have enough DOF, and my second design was too large to stay in a human size range. I tried to use parts of the bicep, but came to realize there was to much pressure/torque on the worm gear, so that also had to be redesigned.
Of course it could be much more improved but I don't have enough time and money for to do that. For exemple, the printed screw threads could be replaced with linear actuators, making it more accurate and strong. But I try to manage my wallet for this project, and I know a lot of you are in the same kind of position. So if you've got a thick wallet, you can replace those parts fairly easily. I have made the space for it and added attachment holes for to be adaptive. The others with a smaller budget can print and play, if it breaks, well, reprint. Or get them printed by Shapeways in stainless steel for a reasonable price.
But be reassured, I've had these parts on for several weeks now and I have been making them run already quite a few hours, sometimes mistreating them badly, and they are holding. The main breakage I had, were during the implementation of the servos speeds and positions feedback, plus a problem with my power supply, which would make my servos act erratical. If they go further then the limits, they break.
Anyway, like I say following the tutorial should make it easy to construct.
I also need to upload the torso because the tuto concerns it too. My problem is that I'm not finished with it.
You see I need to think of the vertebra attachments to the torso and that might change a bit still.
We will see...
I have a little present for you ready to download. You should be abble to build the shoulder with succes if you follow the tutorial I am going to post in the Assembly Help tab.
I know some of you have been waiting, but I had to redesign and reprint this a few times before to finally get it the way I like it. My initial design and prints didn't have enough DOF, and my second design was too large to stay in a human size range. I tried to use parts of the bicep, but came to realize there was to much pressure/torque on the worm gear, so that also had to be redesigned.
 | |
| This was the initial design of the shoulders |
 | |
| Then I redesigned the whole thing to get more DOF |
 |
| Final result of the torso with shoulders |
Of course it could be much more improved but I don't have enough time and money for to do that. For exemple, the printed screw threads could be replaced with linear actuators, making it more accurate and strong. But I try to manage my wallet for this project, and I know a lot of you are in the same kind of position. So if you've got a thick wallet, you can replace those parts fairly easily. I have made the space for it and added attachment holes for to be adaptive. The others with a smaller budget can print and play, if it breaks, well, reprint. Or get them printed by Shapeways in stainless steel for a reasonable price.
 |
| These are some of the broken and rejected prints I didn't throw away. |
But be reassured, I've had these parts on for several weeks now and I have been making them run already quite a few hours, sometimes mistreating them badly, and they are holding. The main breakage I had, were during the implementation of the servos speeds and positions feedback, plus a problem with my power supply, which would make my servos act erratical. If they go further then the limits, they break.
Anyway, like I say following the tutorial should make it easy to construct.
I also need to upload the torso because the tuto concerns it too. My problem is that I'm not finished with it.
You see I need to think of the vertebra attachments to the torso and that might change a bit still.
We will see...
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