My Creation! His name is DR-6

Discussions regarding building a walking robot at home. Most of the robots participating at Robo-One competitions are custom fabricated.
38 postsPage 1 of 31, 2, 3
38 postsPage 1 of 31, 2, 3

My Creation! His name is DR-6

Post by mic2 » Sun Jan 31, 2010 12:42 am

Post by mic2
Sun Jan 31, 2010 12:42 am

Hi Guys,

This is my 8 months of hard work!.... Designing ….Create drawing…. Refining…. Assembling….

His name is DR-6 short for Dream Robot version 6 of my design. The aim of the design is to create more flexibility yet maintain good looks. (Good ratio between Arm & Leg) i.e. Arm servos are smaller than Leg servos.

At this moment I am still using Robovie-X body and head, my next step is to design a new body & head combine with a CPU board & webcam, which I hope achieves the functionality of the Robovie-PC, VisiOn research type of robot which is the next level.

I may consider selling my created parts as a kit later, currently looking for business partner / Robotic related job etc…





phpBB [media]


phpBB [media]



Image

Image

Image

Image

Image

Image

Image

Image

Image

Image

phpBB [media]


Punch!
phpBB [media]


Hands Demo
phpBB [media]


Walking in all directions using Digital control
phpBB [media]


Walking in all directions using Analog control
phpBB [media]




More Videos later….
Hi Guys,

This is my 8 months of hard work!.... Designing ….Create drawing…. Refining…. Assembling….

His name is DR-6 short for Dream Robot version 6 of my design. The aim of the design is to create more flexibility yet maintain good looks. (Good ratio between Arm & Leg) i.e. Arm servos are smaller than Leg servos.

At this moment I am still using Robovie-X body and head, my next step is to design a new body & head combine with a CPU board & webcam, which I hope achieves the functionality of the Robovie-PC, VisiOn research type of robot which is the next level.

I may consider selling my created parts as a kit later, currently looking for business partner / Robotic related job etc…





phpBB [media]


phpBB [media]



Image

Image

Image

Image

Image

Image

Image

Image

Image

Image

phpBB [media]


Punch!
phpBB [media]


Hands Demo
phpBB [media]


Walking in all directions using Digital control
phpBB [media]


Walking in all directions using Analog control
phpBB [media]




More Videos later….
Last edited by mic2 on Sat Feb 13, 2010 9:59 pm, edited 4 times in total.
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Post by billyzelsnack » Sun Jan 31, 2010 1:20 am

Post by billyzelsnack
Sun Jan 31, 2010 1:20 am

This is really great stuff. The Robovie-X is a really nice robot and it looks like you've improved upon it.
This is really great stuff. The Robovie-X is a really nice robot and it looks like you've improved upon it.
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Post by mic2 » Sun Jan 31, 2010 12:14 pm

Post by mic2
Sun Jan 31, 2010 12:14 pm

billyzelsnack wrote:This is really great stuff. The Robovie-X is a really nice robot and it looks like you've improved upon it.


Thanks, from the beginning I was just thinking to design an arm which had a good ratio between side and front view. i.e. should have the same width when it turn its arm. I have even designed gears and moulded it myself, so when its turn the arm will stay in the centre point (like human).

Image

Image

Image


But when I finish designing of the arm, I have also concern about the leg can be looks better from its side view.

So these ends up me have almost designed a complete new robot! Strictly speaking, this isn’t Robovie-x any more, since the whole structure and the flexibility of the robot are completely different.

So I would say this is a new robot with the Roboie-X chest and head on it. Anyway I will soon to design a new body and head for it.

Stay tuned! :D
billyzelsnack wrote:This is really great stuff. The Robovie-X is a really nice robot and it looks like you've improved upon it.


Thanks, from the beginning I was just thinking to design an arm which had a good ratio between side and front view. i.e. should have the same width when it turn its arm. I have even designed gears and moulded it myself, so when its turn the arm will stay in the centre point (like human).

Image

Image

Image


But when I finish designing of the arm, I have also concern about the leg can be looks better from its side view.

So these ends up me have almost designed a complete new robot! Strictly speaking, this isn’t Robovie-x any more, since the whole structure and the flexibility of the robot are completely different.

So I would say this is a new robot with the Roboie-X chest and head on it. Anyway I will soon to design a new body and head for it.

Stay tuned! :D
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Post by Ray » Sun Jan 31, 2010 1:57 pm

Post by Ray
Sun Jan 31, 2010 1:57 pm

Congratulation mic !

I like the hand so much :wink:
wait to see more vidios of you :D

What materials are you using to make the gear? you seem becoming more and more professional :wink:

Cheer,

Ray.
Congratulation mic !

I like the hand so much :wink:
wait to see more vidios of you :D

What materials are you using to make the gear? you seem becoming more and more professional :wink:

Cheer,

Ray.
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Post by mic2 » Sun Jan 31, 2010 3:08 pm

Post by mic2
Sun Jan 31, 2010 3:08 pm

Ray wrote:
What materials are you using to make the gear?


Ray.


Hi Ray,

I am using Liquid plastic compound to make the gears, which works very well, give very strong and perfect copy from the mother mould. may move on to Liquid metal later. :P

mic.
Ray wrote:
What materials are you using to make the gear?


Ray.


Hi Ray,

I am using Liquid plastic compound to make the gears, which works very well, give very strong and perfect copy from the mother mould. may move on to Liquid metal later. :P

mic.
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Post by billyzelsnack » Sun Jan 31, 2010 3:45 pm

Post by billyzelsnack
Sun Jan 31, 2010 3:45 pm

I didn't notice the gearing. Even more cool!

How did you create the master for the mold?
I didn't notice the gearing. Even more cool!

How did you create the master for the mold?
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Post by mic2 » Sun Jan 31, 2010 5:59 pm

Post by mic2
Sun Jan 31, 2010 5:59 pm

billyzelsnack wrote:I didn't notice the gearing. Even more cool!

How did you create the master for the mold?


To make the master gear is such a hard / time consuming job! Since I couldn't find anything like that in a shop from the first place, so I could only buy a pack of mixed size gear in a local hobby shop then find the closest one to start with the design. i.e. designing the gear box and gears to fit between the servo control gear and centre shaft gear in CAD software.

However I have modify a lot, in order to get the size and sharp that I want, so that involved a lot of cutting, drilling, filing, sanding etc…. I found most difficult part is to make the gear to work with the existing servo horn.

Believe it or not, it has spent me more time to make the gear rather than design the robot arm :( :D
billyzelsnack wrote:I didn't notice the gearing. Even more cool!

How did you create the master for the mold?


To make the master gear is such a hard / time consuming job! Since I couldn't find anything like that in a shop from the first place, so I could only buy a pack of mixed size gear in a local hobby shop then find the closest one to start with the design. i.e. designing the gear box and gears to fit between the servo control gear and centre shaft gear in CAD software.

However I have modify a lot, in order to get the size and sharp that I want, so that involved a lot of cutting, drilling, filing, sanding etc…. I found most difficult part is to make the gear to work with the existing servo horn.

Believe it or not, it has spent me more time to make the gear rather than design the robot arm :( :D
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nice

Post by UncleBob » Mon Feb 01, 2010 3:01 pm

Post by UncleBob
Mon Feb 01, 2010 3:01 pm

Nice! How many servos and weight?

Have you consider using smaller servos for lighter areas ? Thanks
Nice! How many servos and weight?

Have you consider using smaller servos for lighter areas ? Thanks
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Post by Stephane » Mon Feb 01, 2010 11:47 pm

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Mon Feb 01, 2010 11:47 pm

Hmm ... just awesome.

I am on the path to do something similar, using bioloid servos (I feel they are very convenient for DIY thanks to their many attach points). I wish I get reach the same level of crafting.

Thanks for sharing the result of your work.

Stéphane
Hmm ... just awesome.

I am on the path to do something similar, using bioloid servos (I feel they are very convenient for DIY thanks to their many attach points). I wish I get reach the same level of crafting.

Thanks for sharing the result of your work.

Stéphane
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Re: nice

Post by mic2 » Tue Feb 02, 2010 10:25 pm

Post by mic2
Tue Feb 02, 2010 10:25 pm

UncleBob wrote:Nice! How many servos and weight?

Have you consider using smaller servos for lighter areas ? Thanks


It has a total number of 23 DOF. (see below servos layout). About the smaller servos for lighter areas, in fact I have already integrated two smaller servos inside the low arm, this allows me to design a much better looks between fount and side view of the robot arm as well as decreasing the weight of the top half of the body. This also helps to stop the backlash problem while walking.

Image

About the legs servos arrangement, I have used some high power servos (heavy weighted servos) in order to maintain high performance as well as keeping the full body weight balance. The ideal weight ratio is 2:3 for bottom half of the body.

The leg design I have been using the ‘fold-in technique’, which means that when it is in sit-down position the top half of the leg will fold inside the low part of the leg. This allows me to use only one knee servo instead of two to produce high flexibility. The photo below shows the new leg design which is able to sit lower than the original Robovie-x leg design.

Image

No sure how much it weight, but I would guess somewhere between 1.5 to 1.7 Kg :P
UncleBob wrote:Nice! How many servos and weight?

Have you consider using smaller servos for lighter areas ? Thanks


It has a total number of 23 DOF. (see below servos layout). About the smaller servos for lighter areas, in fact I have already integrated two smaller servos inside the low arm, this allows me to design a much better looks between fount and side view of the robot arm as well as decreasing the weight of the top half of the body. This also helps to stop the backlash problem while walking.

Image

About the legs servos arrangement, I have used some high power servos (heavy weighted servos) in order to maintain high performance as well as keeping the full body weight balance. The ideal weight ratio is 2:3 for bottom half of the body.

The leg design I have been using the ‘fold-in technique’, which means that when it is in sit-down position the top half of the leg will fold inside the low part of the leg. This allows me to use only one knee servo instead of two to produce high flexibility. The photo below shows the new leg design which is able to sit lower than the original Robovie-x leg design.

Image

No sure how much it weight, but I would guess somewhere between 1.5 to 1.7 Kg :P
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Post by xx2747 » Thu Feb 04, 2010 3:29 am

Post by xx2747
Thu Feb 04, 2010 3:29 am

WOW!!!
I must say, this is one of the best humanoid designs ive seen! :)
I myself build humanoids and this is about what I'm aiming for. (although my budget's wayyy lower)

Great job and keep moving forward on your project!
WOW!!!
I must say, this is one of the best humanoid designs ive seen! :)
I myself build humanoids and this is about what I'm aiming for. (although my budget's wayyy lower)

Great job and keep moving forward on your project!
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Reduce

Post by UncleBob » Thu Feb 04, 2010 5:44 am

Post by UncleBob
Thu Feb 04, 2010 5:44 am

Have you thought of replace forearm servo with a smaller one?
Have you thought of replace forearm servo with a smaller one?
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Re: Reduce

Post by mic2 » Thu Feb 04, 2010 11:21 pm

Post by mic2
Thu Feb 04, 2010 11:21 pm

UncleBob wrote:Have you thought of replace forearm servo with a smaller one?

From my older version of my design, I have already tested with some mini servo (something bigger than a micro servo and smaller than a standard servo) for the shoulder. It all works fine in theory and it also gave me a lot of space to design whatever shape I want it to be. But when things come to practical the mini servo has failed to pick itself up in the get up motion!

The current shoulder you see on the picture, has 2 servos formed into a cube shape, this will give a much shorter arm layout instead of mounting the arm roll servo under the shoulder servo (just to make it look thin) in this case the entire arm will be too long…. Like some other robot with very long (monkey) arms. lol.. :lol:
UncleBob wrote:Have you thought of replace forearm servo with a smaller one?

From my older version of my design, I have already tested with some mini servo (something bigger than a micro servo and smaller than a standard servo) for the shoulder. It all works fine in theory and it also gave me a lot of space to design whatever shape I want it to be. But when things come to practical the mini servo has failed to pick itself up in the get up motion!

The current shoulder you see on the picture, has 2 servos formed into a cube shape, this will give a much shorter arm layout instead of mounting the arm roll servo under the shoulder servo (just to make it look thin) in this case the entire arm will be too long…. Like some other robot with very long (monkey) arms. lol.. :lol:
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Post by mic2 » Thu Feb 04, 2010 11:23 pm

Post by mic2
Thu Feb 04, 2010 11:23 pm

xx2747 wrote:WOW!!!
I must say, this is one of the best humanoid designs ive seen! :)
I myself build humanoids and this is about what I'm aiming for. (although my budget's wayyy lower)

Great job and keep moving forward on your project!


Thank you for your encouragement :D , yeah I don’t see many of this kind of design on the market that money can buy at the moment. That’s why I decided to made my own.

I will post some videos later….
xx2747 wrote:WOW!!!
I must say, this is one of the best humanoid designs ive seen! :)
I myself build humanoids and this is about what I'm aiming for. (although my budget's wayyy lower)

Great job and keep moving forward on your project!


Thank you for your encouragement :D , yeah I don’t see many of this kind of design on the market that money can buy at the moment. That’s why I decided to made my own.

I will post some videos later….
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Post by Rick_swarty » Fri Feb 05, 2010 12:24 pm

Post by Rick_swarty
Fri Feb 05, 2010 12:24 pm

hai ........ sorry for my English is bad
your robot are very good in shape design ...
I really like the hands especially the fingers.
you can tell how to design a robot, especially in selecting materials and type of servo used ...
I have created a humanoid robot, but failed, I created a robot that can not go forward ...
I use aluminum material with a thickness of 0.8mm and I use servo HITEC type 311HD with torque around 3kg ..
I hope you can help me ...
thanks ..
hai ........ sorry for my English is bad
your robot are very good in shape design ...
I really like the hands especially the fingers.
you can tell how to design a robot, especially in selecting materials and type of servo used ...
I have created a humanoid robot, but failed, I created a robot that can not go forward ...
I use aluminum material with a thickness of 0.8mm and I use servo HITEC type 311HD with torque around 3kg ..
I hope you can help me ...
thanks ..
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