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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Sun Jan 14th, 2007 06:21 pm |
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Hello all,
I would like to begin by thanking Peter Turner for both the website, being an excellent salesmen and an outstanding representative of robotics in his field.
Using the Robotis DX-117 dynamixels I have worked with forum user ' Bullit ' to create a new set of robots with 23 dof each (which will soon be 25 with the addition of hands). I created a CAD model of the entire robot before production, and then we fabricated brackets out of extra-strength aircraft aluminum 5052 at .05". We are using the CM2 for the controller at present and a lithium battery 4s1p 14.8v 1300mAh. We also covered many of the wires with a sheath to keep from pinching, cutting, or just simply pulling out.
Our project started just after Christmas day (although we had been contemplating the creation of the robots for some time). Here are some pictures showing some of our progress:
Questions, comments, (concerns) are definitely welcome! -Thanks.
-Hive
Attachment: hold-large.jpg (Downloaded 13 times) Last edited on Thu Jan 18th, 2007 12:52 am by Hivemind
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Bullit
Member
| Joined: | Mon Sep 4th, 2006 |
| Location: | |
| Posts: | 41 |
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Posted: Mon Jan 15th, 2007 12:32 pm |
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RoboGames competetors beware!
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Pev
Member
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Posted: Mon Jan 15th, 2007 03:08 pm |
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Awesome work - they look amazing !!!!!!!!! be interested on your approach to hands as I am currently working on a gripper for the Bioloid too.
Pev
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Macaba
Member
| Joined: | Sun Jan 21st, 2007 |
| Location: | |
| Posts: | 2 |
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Posted: Sun Jan 21st, 2007 05:30 pm |
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This is pretty inspiring for me, you've made me think about building a humanoid robot.
It has to be said, i'm more into the circuit design and programming aspect of such a robot, but I guess I gotta build one first!
Would you say your design is the most conventional use of the number of DOF you've used?
It certainly looks very fluid... it just awaits a synthetic skin!
Last edited on Sun Jan 21st, 2007 05:31 pm by Macaba
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Robo1
Member
| Joined: | Wed Dec 6th, 2006 |
| Location: | |
| Posts: | 10 |
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Posted: Tue Jan 23rd, 2007 12:18 am |
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looks good.
really like the blue light you have given me some ideas.
it's strange how no one puts lights on there bots, even if it doesn;t do anything it does make them look a bit more professional. it adds to the over all finish.
how did you find the CM2, just got one in the post and haven't had the time to set it up.
one question how did you power the RS232-sub, D-sub. I would just stick 3.3v into it but not quit sure as there's no circiut diagram and done want it to go up in smoke.
bren
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Tue Jan 23rd, 2007 12:45 am |
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Thanks all
Pev-I have several ideas for the hands- I was thinking of perhaps a delrin base for fingers and aluminum bracket to attach them to the servo and horn. Perhaps I will make something to my RN bots hands to start off though. For right now, the lightweight hand placeholders are working great though.
Macaba-That's great that I was able to help inspire you! I certainly tried to get the most out of every DOF-but who knows, improvements may be made in the future. As for making your own humanoid-I definitely suggest it. If you need any help getting started, do not hesitate to ask.
Bren-thanks, glad you like the blue light. It actually happens to be connected to a voltage meter (it goes yellow, orange and red depending on where the battery level is). However, I agree, it adds a nice touch (in fact, when the robots are off and you move the joint it generates enough power to get the red LED to turn on).
The CM2 was bought right here at Tribotix - for right now the AT Mega is a good processor, but in the future, it may be gumstix. I know there are a few other options out there right now so I will take some time to look around.
In addition, check the CM2 user manual -there is a schematic in there. The CM2 has both 3.3V and 5V regulators. The serial to RS232 TTL is powered by the CM2, but the voltage for that is 5V.
-Anyway, stay tuned for videos here on Tribotix. They are coming soon!Last edited on Tue Jan 23rd, 2007 12:57 am by Hivemind
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Robo1
Member
| Joined: | Wed Dec 6th, 2006 |
| Location: | |
| Posts: | 10 |
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Posted: Tue Jan 23rd, 2007 08:53 am |
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could I get the stats for this bot.
the 2 that I'm interested in are the distance between the ankle and the knee. And the over all hight. + total weight.
This is because I'm designing my bot now and the ankle - knee = 150mm, top height = 370 - 450 mm depending on the final design.
How;s the servo's holding up aree there plenty of power left for jump/pounching 
bren
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Tue Jan 23rd, 2007 11:45 pm |
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The DX-117 servos are holding up very well. The torque is absolutely amazing as is the compliance (and of course I could go on).
The stats you are looking for:
- Weight: 2.5 kg
- Height: 45 cm
- Ankle-Knee: 8 cm (see picture below for specific measurement)
So the ankle to the knee for this robot is much shorter then your own-although the overall height seems comparable.
-Chris
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Macaba
Member
| Joined: | Sun Jan 21st, 2007 |
| Location: | |
| Posts: | 2 |
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Posted: Wed Jan 24th, 2007 04:21 pm |
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Hey chris, thanks for that scaling picture. Whilst i'm not trying to copy your design (those servos are far too expensive for me!), I am eager to adapt it to my budget!
So feel free to post informative pictures!
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Sun Jan 28th, 2007 03:24 am |
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I have some images of the design that I have created (on the left) and then the bracket that they represent (on the right). I have not included all of the brackets as some of them are stock DX-117 brackets (the side-servo brackets and the U-brackets).
The chest was designed as followed:
This is the beta version of the hips:
The arm:
The leg:
An overall model of the robot comes out to:
I hope this helps you get a better picture of the mechanical design of the robot. If you have any questions about these pieces feel free to ask - comments are always welcome. Thanks again.
-Chris
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Fri Feb 2nd, 2007 07:28 am |
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well done hivemind!
lovely robot!
how do you find the performance at that size and weight?
what software are you controlling it with?
are you planning to make the robot, kit available for sale at some point?
where can i source the servos?
keep up the good work - rob.
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Fri Feb 2nd, 2007 08:44 pm |
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hi hivemind,
i now realise this site has the servos and controllers required, but what GUI are you using to control the robot. are you using r/c ?
and do you have measurements for your body parts?
i want to make a robot and the size and weight of yours seems ideal for combat.
cheers rob jones.
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Fri Feb 2nd, 2007 11:31 pm |
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Thanks Rob,
As you saw, the servos can be (and were) bought on this site. The Tribotix guys have offered great support. I am using the DX-117 model. I have found that for the size and weight this robot is very stable and works very well. The plan is not only for combat but also for soccer and other such events.
As for the design, I made that myself in CAD -the pictures I am sharing are from the CAD drawings next to a 3d perspective that I used for rigging and ensuring that the rotations would work correctly. It was completely modeled before it was built. I shared the layout to inspire others.
Bullit and I are using C and ASM on the robot side and Java on Bluetooth phones. On the PC end we use C# -we are still working on a GUI. We have a number of basic functions so far but lots of work to do.
There are no plans for kits this time-just enjoying and sharing with others.
Thanks,
-Chris
Last edited on Sat Feb 3rd, 2007 05:59 pm by Hivemind
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Sat Feb 3rd, 2007 07:39 am |
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thanks for the help mate,
i suppose using the cycloid software,and GUI would be infringing copyright or something. you prob couldnt get it as is only bundled with a cycloid when purchased?
do you know if the cycloid hand grippers advertised on this website are still available as they look good and with a dx 117 would be plenty powerful enough.
could you let me know were i could source the 5052 aluminium sheet and what quantity of sheet would be required?
cheers rob jones.
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Sat Feb 3rd, 2007 02:43 pm |
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Hello,
I am getting aluminum from Enco: http://www.use-enco.com/CGI/INSRIT?PARTPG=INSRAR2&PMAKA=505-6393&PMPXNO=2609242 It is extra strength aircraft aluminum in a 12x24 sheet at about $13usd.
You will have to talk to Peter Turner about the grippers found here at Tribotix. I believe that they were a DX-113 model -which is no longer made. But you may be able to still purchase the parts. Either way you could make your own gripper without too much trouble.
-Chris
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Mon Feb 5th, 2007 06:17 pm |
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hi chris,
would it be possible for me to use a bioloid axs1 head for my project robo, is it compatible and would its sensors work with the cm2 as you said i could use the bioloid software to operate my robot to a certain degree?
also what size screws did you use for the servo horns and other linkages and were did you get them?
also where did youn get your voltage meter ?
and does the cm2 support gyros, acceleratometers etc?
also would you be able to tell me the amount of each dx 117 bracket used and part no. eg.
of-116h
of-116s
of-116b
cheers rob.
Last edited on Mon Feb 5th, 2007 09:37 pm by robbybot
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Hivemind
Member
| Joined: | Fri Jan 5th, 2007 |
| Location: | Maine USA |
| Posts: | 12 |
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Posted: Tue Feb 6th, 2007 01:42 am |
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Hello Rob,
The AXS1 is on a different bus, so the CM2 wouldn't be able to communicate with it. You would need the CM2 + (which I do not recommend as you lose the pins for the AtoD ports).
The screws and servo horn come with the servo (plenty with each). So you shouldn't need to worry about finding extra screws. This includes both the screws to the horn and then those to the body of the servo for brackets. The screws to the bearing come seperatly with the bearing.
The voltage meter can be obtained here: http://www.tcdynamics.com/prod01.htm It is simple, but works well. One thing I have noticed is that once the battery gets low it drops really fast -the meter works well for this though.
As for gyros/accelerometers, yes. In fact, here is a link to the CM2 user manual which should have the schematic in it: http://www.tribotix.info/Downloads/Robotis/CM-2/%5B051116%5DCM-2(english).pdf We use a 5-axis IMU in both robots.
Hope that helps,
-Chris
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Tue Feb 6th, 2007 07:52 am |
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cheers chris, im really positive about my project and am waiting to hear back fro certain sources before i can initiate my build.
you have saved me plenty of internet scouring time already!
just got to save up for 23 dx 117 servos now!!!!
cheers mate
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robbybot
Member
| Joined: | Fri Feb 2nd, 2007 |
| Location: | |
| Posts: | 25 |
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Posted: Sat Feb 10th, 2007 02:08 pm |
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where can i get the 5 axis IMU from , could you paste a link - cheers rob.
ive ordered the voltage meter.....its a start!
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Bullit
Member
| Joined: | Mon Sep 4th, 2006 |
| Location: | |
| Posts: | 41 |
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Posted: Sat Feb 10th, 2007 10:07 pm |
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The IMU comes from sparkfun.com
http://www.sparkfun.com/commerce/product_info.php?products_id=741
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