InMoov Articulating Neck Joint ReMix by alansrobotlab

Last crawled date: 3 years ago

This is a remix of Bob Houston's outstanding articulated neck mod.
https://www.youtube.com/watch?v=FPV6k8QfDY8
You'll need the following:
(3) 3m x 20mm socket head cap screws
(3) 3m x 12mm machine screws
(3) 3m washers
(7) #6 or #8 3/4" flathead screws or equivalent
(8) #4 1/2" flathead screws or equivalent
Print out every part with the following settings:
100micron layer height
6 perimeters
2mm tops and bottoms
15% infill
3-4mm brim
For ArtNeck_NeckV1 and ArtNeck_NeckUpperV2, I printed those with the same settings but with 250 micron layers. I just couldn't get the settings right to print NeckUpper at 100 microns.
Only these items will require supports:
ArtNeck_ServoHolderV2
ArtNeck_ServoJointUpperV2
Assembly

Drill out NeckUpper Ball Mounts to 2.5mm, then tap 3mm threads. Lightly sand the ball joints and attach to head using #8 screws.


Insert NeckLower into Neck with larger slot facing the back, align then drill, countersink and use a short machine screw to mate together. Make sure you shorten or snip the screw so that it doesn't extend into the neck. Mount new neck subassembly to InMoov with #8 screws. Mount Head NeckUpper to NeckLower. don't jostle.


Sand external surface of ServoPivot Mount point. Drill pivot hole to 2.5mm, then threads to 3mm. Use ServoPivot to drill out the mount holes from the shoulder frame. See photo. Put left servopivot into right facing inward, then drill for correct mount hole locations. countersink. To mount these, you're going to have to temporarily either remove the arm, or remove the rear shoulder panel. Mount using #8 screws.


Sand mating surface for ServoHolder. Drill pivot hold and servo mount holes to 3mm. Test fit into ServoPivot. Can/Should be tight. Mount to ServoPivot using 3mm washer and 12mm machine screw. Make very tight, turns out it doesn't need to pivot at all.


Drill PistonBaseSide to 3-4mm, temporarily mount to servos. Mount servos to ServoHolder using #4 machine screws.


Drill PistonBaseFront to 3-4mm. Remove neck front pistonbase, and temporarily mount to front Neck servo using #4 machine screws.


Enable neck front servo, and set to 90 degrees position. Grease up PistonBaseFront and balljoint. Test fit PistonFront attempting to mate with head level with floor. If all four orientations are either too high or too low, make a note of what change in rotation would be required to make head level (15 degrees, 45 degrees etc). Remove PistonBaseFront, unscrew horn and reset at desired position. Attach PistonBaseFront and try again. Use 20mm socket head cap screw to affix ball joint. Just turn head to side to access/affix front piston socket head cap screw.


Enable neck side servo, and set to 90 degrees position. Grease up PistonBaseSide and balljoint. Test fit PistonSide attempting to mate with head level with floor. If all four orientations are either too high or too low, make a note of what change in rotation would be required to make head level (15 degrees, 45 degrees etc). Remove PistonBaseSide, unscrew horn and reset at desired position. Attach PistonBaseSide and try again. Use 20mm socket head cap screw to affix ball joint.


Whatever control solution you're using, make sure you set sane max/min values for the new neck nod and side actions.

Enjoy! This is a very cool mod. :-)
Updates:
2016-02-28 NeckJointUpper to V3, widened mounting studs, shortened balljoint backplane for a few more degrees of freedom NeckJointLower to V3, thickened balljoint feature, now both slots are same size to match NeckJointUpper Added HK15328 servo horn if you're using that type of servo.