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danic85 edited this page May 22, 2024 · 17 revisions

This project utilises 3D printed parts to assemble the bipedal robot structure. The files for these are available on OnShape, and can be downloaded from there. The links below will take you to the relevant OnShape documents.

OnShape currently offers a free account which can be used to view and download the files. If you wish to edit the files, you will need to create an account and copy the files to your own workspace.

Version 4

There is a video series on the progress integrating the new Raspberry Pi 5: Pi 5 Build Logs

Version 4 utilises the same files from Version 3 with the exception of the following:

  • Head v4 - This is the current version to accommodate the Raspberry Pi 5 and new custom PCB.

Version 3

This project utilises 3D printed parts to assemble the bipedal robot structure. The files for these are available on OnShape, and can be downloaded from there. The links below will take you to the relevant OnShape documents.

OnShape currently offers a free account which can be used to view and download the files. If you wish to edit the files, you will need to create an account and copy the files to your own workspace.

Bearings and other components

In addition to the 3D printed parts you will need bearings for the joints. The diameter of the bearings has been chosen to assist in availability, as these bearings are commonly available.

Leg and neck pan bearing: 13X 608ZZ Skateboard Bearings ABEC-7 [8 * 22 * 7mm] Hip and neck tilt bearings: 6X Mini Ball Bearings 693ZZ Small Double Shielded Bearing [3 * 8 * 4mm]

In addition, 6X 7.5mm diameter bolts (with nuts) should be used to assemble the legs, minimum length of 45mm.

The rest of the components are assembled using nylon screws and spacers: "M3 Hex Nylon Standoff Spacer Column PCB Fixed Plastic Spacing Screws".

The LED eye is covered with a single 16mm cabochon, which can be purchased from eBay or other online stores.

Required electronics will be listed in the Electronics page.

Build guide

There is a build guide available on the YouTube channel that covers assembly of the head and leg components.

Head

Leg

Leg

  • Leg section - Holds servos and connects joints. 4 needed per leg
  • Spacer - Attaches between leg section and drive or inner drive. 4 needed per leg
  • Screw spacer - Covers bolt covering space between inner drive and leg section or foot section. 2 needed per leg
  • Gear - Attaches to servos.
    • Recommended to use the Herring1.55.18t.pressure part with the original servo horn attached via small screws.
    • Herring1.55.18t.mnt also available which connects without a horn, but this fails easily. 3 needed per leg
  • Drive - attaches to top of outer leg section, connects to gear on servo. 2 needed per leg
  • Foot section - Holds foot servo. 2 needed per leg.
  • Inner drive - Used to support leg section against joint bolt. 2 needed per leg
  • Bearing spacer - Inserts between inner bearing and inner drive. 2 needed per leg.

Hip

  • Bearing spacer - Inserts between inner bearing and inner drive. 1 needed per hip.
  • Inner drive - Used to support hip against joint bolt. 1 needed per hip
  • Screw spacer - Covers bolt covering space between inner drive and leg section. 1 needed per hip
  • Drive (half) - Attaches to hip joint upper. 1 needed per hip

Body

  • Body - Current design for body and hip joint. Attach hip components above.

Neck & Head

  • Neck - Attaches to body and houses two micro servos (recommended MG92b).
  • Head - Attaches to neck. Ignore outer shell component as this is WIP. Screws need to be added to mount on neck. This is an export from Fusion 360.

Version 2

The files for the smaller robot are available on Tinkercad. Please note this version is no longer maintained.

Contents

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