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Author Topic: Animabot - Advanced hexapod robot  (Read 5529 times)

Nemesis

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Animabot - Advanced hexapod robot
« on: October 08, 2015, 02:38:29 PM »
2015_11_04_10_57_47_IMG_1699_Windows_Photo_Viewer.png
*2015_11_04_10_57_47_IMG_1699_Windows_Photo_Viewer.png (999.96 kB . 985x692 - viewed 743 times)

Introduction:
Animabot is an advanced hexapod robot created to interact with humans.
If I do my job well, he will be able to talk, play with a ball, recognize you,  take care of the home when I'm not here,  be remote controlled and much more !

For the second version of Animabot I wanted something different. I didn’t want to see the motors nor the electronic nor the cables...
I also want him more powerful, more intelligent and more friendly !
So, for the design I opted for a full 3D printed body, which allow me smooth forms and complex shapes. I inspired myself from the hexapod of Norio Fujikawa, who designed a nice one!
As for the intelligence, I opted for 2 brains: a Raspberry Pi 2 (applications) and an ARM Cortex M4 (HAL abstraction, motors driver, battery, sensors).
You will find more explanations and pictures on my blog: http://anim4bot.com/category/animabot-rev2




Hexapod Robot Animabot is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.



Components & Characteristics:
   • Energy: Tenergy Li-Ion 11.1V 7800mAh
   • Power Distribution: 3xPTN78020WAH + 1xPTN78060WAH
   • Charger: Custom, based on LTC4006-2
   • Brain n°1: Raspberry Pi 2 B+
   • Brain n°2: STM32F4 Discovery Board
   • OS n°1: Raspian
   • OS n°2: Chibios RTOS
   • Programming Language: C, Python
   • Communication: Bluetooth, WiFi
   • Vision: Webcam(HD6000) + Led(Luxeon 3W)
   • Actuators: 19 Herkulex DRS-0101 digital servomotors
   • Control: Autonomous and Remote-controlled
   • Sensors: temp(LM35), accelerometer(LIS302DL), power monitor(LTC2945), IR telemeter(GP2Y0A21)
   • Target environment: indoor/outdoor
   • Weight: 2,2kg
 
Checkout the Interactive 3D model !!!



Achievements:
   • 3D design: 100%
   • 3D printing: 97%
   • Mechanical Assembly: 99%
   • PCB design: 100%
   • PCB fabrication: 100%
   • Electronic Assembly: 100%
   • Firmware on STM32: 30%
   • Firmware on RasPi: 5%
   • Applications: 0%
   • Stuffs to buy: 100%



Mechanical Design:
All the body is realised on Solidworks and will be fully 3D printed in PLA on my FlashForge Dreamer. The most difficult work was to anticipate during the design, how the boards and the cables will fit inside along with the motors. And also the fixation of the 19 motors inside a body which is about 26x18x9cm.
I will no detail all the steps to get to this result, but fell free to ask me if you have any questions regarding the CAD design :)

   

   




Electronic Design:
Animabot's  electronic is composed of several PCBs in addition to the RasPi and the STM32:
   • Power Supply Board
   • Li-Ion Charger
   • STM32 Board Adapter
   • LED board
   • ATXRaspi
   • USB audio DAC
All the boards were designed with Altium Designer and made online on SeedStudio.
Below you can see the architecture of Animabot:







Electronic Assembly:

This is the STM32 Adapter. I made this board in order to connect the STM32 to the PowerBoard and the RasPi.


This is the PowerBoard composed of 3xPTN78020WAH + 1xPTN78060WAH switching regulators for powering the servos and the brains. This board is also connected to the STM32 adapter.


This is the Li-Ion charger, certainly the most critical board of Animabot. As I wanted to be able to charge the battery without removing it, I had to make a custom charger based on a LTC4006-2 from Linear Technology.


Voilà ! the boards are finally together ! The power is well distributed to each board, and the "smoke test" is passed. Now I have to create the software on the STM32 discovery board and the mid level since the HAL (Hardware Abstraction Layer) is already provided with Chibios.





3D printing:
All the parts are printed with a Flashforge Dreamer and I use Simplify3D software. I have finaly found the good settings to get nice prints. So now it's production time \o/. To get Animabot printed, I have around 160h of printing ahead for the 44 parts which compose the robot.
 
Head:
The head in printed in 1 block, from bottom to top in 8h. Inside there is the Webcam(HD6000), the night vision led, active cooling and the servo for the rotation.

   




Femur:
The femur is composed of 3 parts: front and back cover + internal shell. The shell is maintained between the 2 covers by 4 small metal rods (Φ1,5 x 30mm).

   



Tibias:
The tibias are printed in 1 block also (5h each). Then I applied a rubber coat (Plasti Dip) at the end of the tibia to avoid the robot from slipping, as PLA as a very low coefficient of friction.

   

Leg Assembly:
   




Lower Body:
The lower body is composed of 5 parts because these parts are too big to be printed in one shot. As you can see below, this is the rear body where are the DC-IN plug, and the interrupters for the Raspi and the battery. The 5 body parts are joined together thanks to a "puzzle shape connector" and some screws. The plate in the center holds these 5 parts together.

   

Upper Body:
The upper body is composed of 3 independent parts mounted on the servos and maintained with metal rods to the lower body. The Head is now mounted on the body and functional. The next step is to integrate the speakers and test all the connections inside the robot before crewing all together.

   




Body Assembly:
Finally after 20 months of design, tests, doubts, bug fix, etc… Animabot is assembled and ready to walk !!!
I had to fix several issues in Anima before mounting the legs and the upper body. First I had to fix the sound problem, curiously the IR sensor was generating noise which was propagated up to the audio amplifier, thus generating audible noise… To fix it I added to capacitors (100nF & 10µF) on the sensor’s power connection. Then I burned the Li-ion charger :( so I had to replace some mosfet and add some heatsinks.

The body is not as good as I would like it to be, but I think for a first prototype, it's not so bad :)

   

   

   




Videos:
   



« Last Edit: September 21, 2016, 09:36:59 AM by Nemesis »

Protowrxs

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Re: Animabot - Advanced hexapod robot
« Reply #1 on: October 08, 2015, 06:02:56 PM »
Just wow is all the can say. I have seen pictures of it but no detail. What a thought out and planned bot. Very very impressive. Going to love to see this little feller on the move.

Stephen
The past is done, the future is not here, live today...
My Bots: http://www.Protowrxs.com/Robotics

cevinius

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Re: Animabot - Advanced hexapod robot
« Reply #2 on: October 08, 2015, 07:36:11 PM »
Really, really beautiful, Nemesis.

I've been following Anima's development for a while, but seeing all these photos together reminds me what a fantastic design Anima is, and also how much work you've been putting into this project. FANTASTIC!!!

cevinius

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Re: Animabot - Advanced hexapod robot
« Reply #3 on: November 04, 2015, 09:02:04 AM »
Congratulations,  Nemesis! The fully assembled Animabot is a thing of beauty! Fantastic work!!

Smashley

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Re: Animabot - Advanced hexapod robot
« Reply #4 on: November 04, 2015, 12:55:54 PM »
Turned out amazing! Can't wait to see some video of it walking around and destroying neighborhoods  :)

HitecPrimate

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Re: Animabot - Advanced hexapod robot
« Reply #5 on: November 04, 2015, 04:08:04 PM »
This bitch is beautiful! Great work! Now finish up, so we can enjoy your next work  ;)

craighissett

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Re: Animabot - Advanced hexapod robot
« Reply #6 on: November 04, 2015, 05:06:28 PM »
Hurrah!!! I cant wait to see this beauty walk :)

Nemesis

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Re: Animabot - Advanced hexapod robot
« Reply #7 on: November 04, 2015, 05:31:30 PM »
Thanks guys for the support you are showing ! I really appreciate  :D

HitecPrimate

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Re: Animabot - Advanced hexapod robot
« Reply #8 on: November 04, 2015, 07:21:53 PM »
I've a question regarding the CAD..

- Do you model all electronic components on the printed circuit board? Or do you download each electronic component from a database somewhere in a .stl or .step file?
I've a few boards myself I need to draw and I don't want to waste / use a lot of time on circuit board recreation.

I am able to find usb connectors etc. but I am more asking for specific CPU's, transistors etc in 3D files


Just out of curiosity. How many hours do you think you've putted into this project?
How long have you been working on this project over a time span?

erco

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Re: Animabot - Advanced hexapod robot
« Reply #9 on: November 04, 2015, 09:02:48 PM »
WOW is an understatement. What a beautiful robot and collosal labor of love. Is this strictly a personal project, or do you have plans to sell this?

WANT!

Nemesis

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Re: Animabot - Advanced hexapod robot
« Reply #10 on: November 05, 2015, 03:10:18 AM »
I've a question regarding the CAD..

- Do you model all electronic components on the printed circuit board? Or do you download each electronic component from a database somewhere in a .stl or .step file?
I've a few boards myself I need to draw and I don't want to waste / use a lot of time on circuit board recreation.

I am able to find usb connectors etc. but I am more asking for specific CPU's, transistors etc in 3D files
I made the PCBs with Altium Designer, which allows to export the boards as step file. Then I imported these step files in Solidworks (complete board with components). With Altium, you can import 3D component bodies (as step file) in your project. (altium-import-3d-model-into-footprint)
You can download the footprint bodies on the manufacturer website, or you can check here
 
Quote
Just out of curiosity. How many hours do you think you've putted into this project?
How long have you been working on this project over a time span?
I'm began this project on March 2014... finished the Electronic design in July 2014 and the CAD design in November. Between November 2014 and March 2015: Break :)
Then, from March 2015, it has been 3D printing until September. From September til now: Assembly and debug ;)

In terms of hours... I don't know exactly but maybe around 300h for CAD design, 100h for PCBs and 200h of printing...

Nemesis

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Re: Animabot - Advanced hexapod robot
« Reply #11 on: November 05, 2015, 03:12:44 AM »
WOW is an understatement. What a beautiful robot and collosal labor of love. Is this strictly a personal project, or do you have plans to sell this?

WANT!

Thank you for the comment erco !
For now it is strictly personal... but depending how things are going and if people like it, I will seriously consider commercial way ;)

HitecPrimate

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Re: Animabot - Advanced hexapod robot
« Reply #12 on: November 05, 2015, 07:18:27 AM »

I made the PCBs with Altium Designer, which allows to export the boards as step file. Then I imported these step files in Solidworks (complete board with components). With Altium, you can import 3D component bodies (as step file) in your project.

I am so glad I ask. This will be awesome to work with. Thanks!

Nemesis

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Re: Animabot - Advanced hexapod robot
« Reply #13 on: November 05, 2015, 07:49:34 AM »
I am so glad I ask. This will be awesome to work with. Thanks!

Happy to help ;)

jinx

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Re: Animabot - Advanced hexapod robot
« Reply #14 on: April 26, 2018, 05:44:26 PM »
ello there any news? walking dancing video yet
I build bots

 

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