Thingiverse
Rocking Body Walking Robot Drone #5 steerable version by Rick100
by Thingiverse
Last crawled date: 3 years, 5 months ago
This is my remix of Robothuts "Rocking Body Walking Robot Drone #5". I built his original design and several others he's posted to Thingiverse. His original design is a pin walker driven by one motor/gearbox. It walks in a straight line when you turn it on. I decided to build a remote controlled steerable version. It has two N20 gearmotors driven by a L9110S dual H bridge. An Arduino Pro Mini controls the motors with feedback from a cam and switch on each leg. The Arduino uses the feedback to keep the motors in sync. The Arduino receives commands from an IR remote through a TSOP4838. The IRLIB2 Arduino library is used to decode the 12 bit Sony codes. The universal remote is set for a Sony VCR. Power is provided by the guts of a 2600 MAH power bank. The 18650 cell has solder tabs which is important to make everything fit in the robot. The charge board in the power bank also boosts the cells voltage to 5 Volts. It works well even it 's a little slow. The motors are rated at 30 RPM at 6 Volts.
The drone/robot was printed on an Ender 2 and a FolgerTech 2020.
The 3D printed parts needed from RobotHuts design are:
footclip 2
latch 1
bodyBack 1 / the door will be replaced
foot 2
leg 2
bodyFront 1
The motor frame and body frame are the 2 big parts that need replacing. The rest of the parts are clamps, mounts, and cams. The 2 cams are marked left and right. The tilt cam goes on the right side and is keyed. The battery clamp is what the charge board is mounted to with hot glue. The switch mounts are the stepped plates that the switches are mounted to. You need 2 of them. The switch mount is then mounted to the motor clamp with screws and nuts, and adjusted using the slots. There are a left and right motor clamp. The V on the motor clamp points to the front of the robot. The leg pins are a different length than robotHuts original design and you need 2. The arduino mount and mtr_drv_clamp are stacked with the L9110S and Arduino and screwd to the lower holes in the motor frame. The video should provide enough details if anyone should want to build one. The wiring is pretty simple so I haven't included a schematic. The Arduino source code includes the pin connections between the Arduino, ML9110S, TSOP4838, and switches. The common of each switch goes to ground and the N.O. terminals go to the Arduino input pins. I used a piece of strip board to make a power distribution bus. This is where the power pins of the boards and sensors are soldered.
The Arduino program uses the IRLIB2 library. I can't remember for sure how I installed the library but I think I followed these instructions:https://learn.adafruit.com/using-an-infrared-library/hardware-needed
You may need to use the Decoding IR data section of that page to get the codes your remote is sending. You can edit my Arduino program for your particular codes. I set my universal remote to a Sony VCR. It outputs 12 bit sony codes. I've commented out a lot of serial debugging lines that can be uncommented if needed.
The program has a switch debounce routine that was necessary for it to work at all.The '#define BIT_DEBOUNCE_COUNT 8' at the top defines how many times the switch state has to remain unchanged before the switch state is updated. It uses shift registers to keep track of the bit trains from the switches.
This is not an easy build. Finding the right size screws seems to take a lot of time. Most of the screws used are 2mm X 12mm self tapping or 3mm X 12mm machine screws. Some had to be cut shorter. The power switch I used is smaller than the holes in RobutHut's design. I slotted the holes in the switch to make it fit. A larger switch would probably interfere with the internal moving parts anyway. There is not much room inside for the electronics.
I had to modify body frame using the stl RobotHut posted. Fusion 360 is not very good at this and neither am I. In the importing and reduction of the stl, some of the detail seems to have gotten lost. There is one artifact visible on the print. It is a faint triangle on the side of the body. I spent a lot of time trying to clean up the body after converting it from the mesh. I used 3D builder to fix the non manifold errors but Prusa Slic3r says 2 remain. All the slicers I tried will still slice the model correctly.
My video:https://www.youtube.com/watch?v=a80CQ_oQmnA
Parts I used:
roller switch:https://www.banggood.com/5Pcs-AC-125V-1A-Mini-SPDT-Micro-Switch-Long-Hinge-Roller-p-998613.html
slide switch:https://www.banggood.com/10Pcs-Black-Mini-Size-SPDT-Slide-Switches-On-Off-100V-2A-DIY-Material-p-1011746.html
Arduino Pro Mini:https://www.banggood.com/3Pcs-ATMEGA328-328p-5V-16MHz-Arduino-Compatible-Nano-Size-Module-Board-p-1006451.html
TSOP4838 IR receiver:https://www.banggood.com/5Pcs-IR-Receiver-Infrared-Radiation-Module-38KHz-TSOP4838-DIP-3-p-945168.html
Update:
I built an Attiny based IR remote for the robot:https://www.thingiverse.com/thing:3566978
I replaced the Arduino program on this page with the same program on that page. It still works with a universal remote. The program also has some bug fixes.
The drone/robot was printed on an Ender 2 and a FolgerTech 2020.
The 3D printed parts needed from RobotHuts design are:
footclip 2
latch 1
bodyBack 1 / the door will be replaced
foot 2
leg 2
bodyFront 1
The motor frame and body frame are the 2 big parts that need replacing. The rest of the parts are clamps, mounts, and cams. The 2 cams are marked left and right. The tilt cam goes on the right side and is keyed. The battery clamp is what the charge board is mounted to with hot glue. The switch mounts are the stepped plates that the switches are mounted to. You need 2 of them. The switch mount is then mounted to the motor clamp with screws and nuts, and adjusted using the slots. There are a left and right motor clamp. The V on the motor clamp points to the front of the robot. The leg pins are a different length than robotHuts original design and you need 2. The arduino mount and mtr_drv_clamp are stacked with the L9110S and Arduino and screwd to the lower holes in the motor frame. The video should provide enough details if anyone should want to build one. The wiring is pretty simple so I haven't included a schematic. The Arduino source code includes the pin connections between the Arduino, ML9110S, TSOP4838, and switches. The common of each switch goes to ground and the N.O. terminals go to the Arduino input pins. I used a piece of strip board to make a power distribution bus. This is where the power pins of the boards and sensors are soldered.
The Arduino program uses the IRLIB2 library. I can't remember for sure how I installed the library but I think I followed these instructions:https://learn.adafruit.com/using-an-infrared-library/hardware-needed
You may need to use the Decoding IR data section of that page to get the codes your remote is sending. You can edit my Arduino program for your particular codes. I set my universal remote to a Sony VCR. It outputs 12 bit sony codes. I've commented out a lot of serial debugging lines that can be uncommented if needed.
The program has a switch debounce routine that was necessary for it to work at all.The '#define BIT_DEBOUNCE_COUNT 8' at the top defines how many times the switch state has to remain unchanged before the switch state is updated. It uses shift registers to keep track of the bit trains from the switches.
This is not an easy build. Finding the right size screws seems to take a lot of time. Most of the screws used are 2mm X 12mm self tapping or 3mm X 12mm machine screws. Some had to be cut shorter. The power switch I used is smaller than the holes in RobutHut's design. I slotted the holes in the switch to make it fit. A larger switch would probably interfere with the internal moving parts anyway. There is not much room inside for the electronics.
I had to modify body frame using the stl RobotHut posted. Fusion 360 is not very good at this and neither am I. In the importing and reduction of the stl, some of the detail seems to have gotten lost. There is one artifact visible on the print. It is a faint triangle on the side of the body. I spent a lot of time trying to clean up the body after converting it from the mesh. I used 3D builder to fix the non manifold errors but Prusa Slic3r says 2 remain. All the slicers I tried will still slice the model correctly.
My video:https://www.youtube.com/watch?v=a80CQ_oQmnA
Parts I used:
roller switch:https://www.banggood.com/5Pcs-AC-125V-1A-Mini-SPDT-Micro-Switch-Long-Hinge-Roller-p-998613.html
slide switch:https://www.banggood.com/10Pcs-Black-Mini-Size-SPDT-Slide-Switches-On-Off-100V-2A-DIY-Material-p-1011746.html
Arduino Pro Mini:https://www.banggood.com/3Pcs-ATMEGA328-328p-5V-16MHz-Arduino-Compatible-Nano-Size-Module-Board-p-1006451.html
TSOP4838 IR receiver:https://www.banggood.com/5Pcs-IR-Receiver-Infrared-Radiation-Module-38KHz-TSOP4838-DIP-3-p-945168.html
Update:
I built an Attiny based IR remote for the robot:https://www.thingiverse.com/thing:3566978
I replaced the Arduino program on this page with the same program on that page. It still works with a universal remote. The program also has some bug fixes.
Similar models
thingiverse
free
Shot Timer Case by AcKyL
...er-7_4v-650mah-25c-lipo-battery-jst-plug-p-991741.html)
code can be found at github: https://github.com/bjorn-b/shottimer_arduino
thingiverse
free
top cover for smars robot by xplp
...838 for arduino
3x tcrt5000 tracker sensor
ultrasonic module hc-sr04
l9110s dc stepper motor driver
2x 16340 3.7v
arduino nano v3
thingiverse
free
Robie Jr Remote with Arduino by Rick100
...ece of prototype board as a power distribution strip for the dupont connectors.
the range of the one i build is about 5.5 meters.
thingiverse
free
Robot arduino 3D print by xoxu
...ogram you have some example on githubhttps://github.com/drachezoil/mindlab-robot
edit 01/11/2017
added schematics and new links
thingiverse
free
Self Balancing Robot by drmcland
...tor mounts
2 - motor caps
3 - plates
4 - long corner supports
4 - short corner supports
1 - power switch
1 - mpu mount
1 - lm294n
thingiverse
free
iR Servo Remote Control with Arduino by sakai
...is published on github.
ir_servo_remote_control_with_arduinohttps://github.com/yosukesakai/ir_servo_remote_control_with_arduino
grabcad
free
Motor driver L9110
...motor driver l9110
grabcad
motor driver arduino compatible used for driving 2 dc motors or 1 stepper motor.
thingiverse
free
Enclosure for Arduino Nano and ULN2003 by atlantisq
...o pieces.
designed to work with the astra tracker: https://www.thingiverse.com/thing:4761585 but should work with other projects.
thingiverse
free
IR Remote Tester by ridercz
...es and arduino with the iremote library. various remote controls use different codes, so i designed a device to read them easily.
thingiverse
free
ARDUINO Robotic Motor Project Controls - Lego Meccano Compatible by jlsilicon
...cluding:
meccano base parts plates struts angles ,
geared motors to meccano and lego conversion - kit parts
for additional parts.
Steerable
3d_export
$14
azipod thruster
...consisting of a fixed pitch propeller mounted on a steerable gondola ("pod") which also contains the electric motor driving...
free3d
free
Sled Slalom Steerable v2
...sled slalom steerable v2
free3d
sled slalom steerable v2 printable, low poly model.
thingiverse
free
balcontrike steerable wheel by Balcontrikes
...balcontrike steerable wheel by balcontrikes
thingiverse
a steering wheel
thingiverse
free
Steerable Tailwheel for RC Airplanes by localfiend
...two shaft lengths, which allows you to install the servo horn to be accessible externally, or hidden inside a foamboard airplane.
thingiverse
free
InvenToy - steerable axle by ZbynekSulc
...a part of construction toy
print info
the landscape orientation is better
videosupports removeing
other partsball bearings 3x8x3
thingiverse
free
Dynam C-47 DC3 Model Steerable Tailwheel by benglish
...stronger bracket and made the tail wheel steerable by adding an additional linkage to the rudder servo. the throw is adjustable.
thingiverse
free
Bosch Jigsaw Hose Adapter for Vax Airlift Steerable by gameXcore
...xcore
thingiverse
hose adapter to fit between a vax airlift steerable and a bosch jigsaw. outer diameter for hose end is 37.4mm.
thingiverse
free
R/C Steerable bristlebot by enjrolas
...kid.
video of an early prototype doin' its thang is here: http://www.flickr.com/photos/bridgewalker/6276616359/in/photostream
thingiverse
free
FT P-51 Mustang Steerable Tail Wheel by Colo3D
...ut as needed.
you can find the main landing gear that i made for my ft p51 mustang here:https://www.thingiverse.com/thing:4665395
thingiverse
free
Prusa A8 steerable air nozzle by vulnerator
...rs. the advantage is that you can adjust the nozzle tilt. i found it necessary after disassembling and re-assembling the extruder
Drone
3d_export
$12
Drones
...drones
3dexport
drones
3d_export
$5
drone
...drone
3dexport
drone
3d_export
$6
drone
...drone
3dexport
high poly model of dji phantom 4 (drone)
3d_export
$5
drone
...drone
3dexport
drone military flight, sizes are in mm, modeled in fision 360
3d_export
free
drone
...drone
3dexport
drone de uso tactico, creado en blender version 2.79
3d_export
$35
DRONE
...drone
3dexport
turkey drone alpagu kamikaze foldable wing 3ds max 2019,2020,2021,2022 vray 5.00 rendered
3d_ocean
$29
Drone
...drone camera drone electronics justtomas military parrot plane robot sci-fi spy toy vehicle
drone by justtomas .c4d r16 .obj .3ds
turbosquid
$6
Drone
...rone
turbosquid
royalty free 3d model drone for download as on turbosquid: 3d models for games, architecture, videos. (1347051)
turbosquid
free
Drone
...drone
turbosquid
free 3d model drone for download as blend on turbosquid: 3d models for games, architecture, videos. (1688993)
turbosquid
$69
Drone
...e
turbosquid
royalty free 3d model drone for download as max on turbosquid: 3d models for games, architecture, videos. (1232508)
Walking
design_connected
$4
Walking
...walking
designconnected
chista walking computer generated 3d model.
3d_export
$5
walking machine
...walking machine
3dexport
walking machine in solid works
3ddd
$1
Walking Cabinet
...walking cabinet
3ddd
тумба , markus johansson
walking cabinet
3d_export
$10
a walking bunker
...a walking bunker
3dexport
this is a walking bunker that is eguipped with a double machine and a vizer/
turbosquid
$35
A Walking Bridge
...d
royalty free 3d model a walking bridge for download as skp on turbosquid: 3d models for games, architecture, videos. (1514530)
turbosquid
$20
walking man
...quid
royalty free 3d model walking man for download as blend on turbosquid: 3d models for games, architecture, videos. (1219967)
turbosquid
$19
Walking girl
...squid
royalty free 3d model walking girl for download as fbx on turbosquid: 3d models for games, architecture, videos. (1495941)
turbosquid
$55
lion walking
...
royalty free 3d model lion walking for download as ma and ma on turbosquid: 3d models for games, architecture, videos. (1604914)
turbosquid
$5
Walking Bridge
...yalty free 3d model walking bridge for download as ma and obj on turbosquid: 3d models for games, architecture, videos. (1523555)
3d_export
$7
walking closet
...walking closet
3dexport
Rocking
3d_export
$5
Rock
...rock
3dexport
simple rock.
3d_export
$5
Rock
...rock
3dexport
20 rock
3d_ocean
$5
Rock
...rock
3docean
game ready low poly old stone rock
rock,low poly,
3d_export
$6
Rock
...rock
3dexport
rock 3d model
3d_ocean
$5
Rock
...rock
3docean
game rock low polygon old rock rock stone
2048*2048 texture. 90 polygon low poly. obj,blend,fbx , format
3d_ocean
$2
Rock
...rock
3docean
cliff crag organic rock stone
this is a rock 3d model. it works in horizontal and vertical position, too.
3ddd
$1
rock on
...rock on
3ddd
кресло качалка
кресло valdichenti rock on
3d_export
$5
the rock
...the rock
3dexport
the rock 3d model good quality for animation
design_connected
$27
On The Rocks
...on the rocks
designconnected
edra on the rocks computer generated 3d model. designed by binfaré, francesco.
design_connected
$13
Rock
...rock
designconnected
foscarini rock computer generated 3d model. designed by diesel creative team.
Robot
3d_ocean
$20
Robot
...robot
3docean
character metal robot robot robotic white
robot model for 3dsmax 2009 and greater
3d_ocean
$45
Robot
...robot
3docean
fighing machine robot
a fighting robot from the scrapyard.
3d_ocean
$18
Robot
...robot
3docean
machin robot science fiction
high poly robot.
3d_export
$7
Robot
...robot
3dexport
robot
3d_export
$5
robot
...robot
3dexport
robot
3d_export
free
Robot
...robot
3dexport
robot
3d_export
$5
robot
...robot
3dexport
robot in blender
3ddd
$1
robot
...robot
3ddd
робот
robot
3ddd
$1
Robot
...robot
3ddd
робот
robot
3ddd
$1
Robot
...robot
3ddd
робот
robot
Body
3d_ocean
$39
Heart and body
...heart and body
3docean
blood body heart human organ
heart and body highpoly heart inside human body.
turbosquid
free
Body
...lty free 3d model body for download as max, obj, c4d, and fbx on turbosquid: 3d models for games, architecture, videos. (1155461)
3ddd
$1
body
...body
3ddd
маникен
corona mtl
turbosquid
$50
body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$45
Body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$25
bodies
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$20
Body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$5
Body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$3
body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$1
body
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
5
turbosquid
$6
Rock 5-5
...urbosquid
royalty free 3d model rock 5-5 for download as obj on turbosquid: 3d models for games, architecture, videos. (1639063)
3d_export
$5
hinge 5
...hinge 5
3dexport
hinge 5
turbosquid
$10
A-5
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$2
A-5
... available on turbo squid, the world's leading provider of digital 3d models for visualization, films, television, and games.
turbosquid
$12
Calligraphic Digit 5 Number 5
...hic digit 5 number 5 for download as max, obj, fbx, and blend on turbosquid: 3d models for games, architecture, videos. (1389333)
3ddd
$1
5 роз
...5 роз
3ddd
5 роз в стеклянной вазе
design_connected
$11
iPhone 5
...iphone 5
designconnected
apple iphone 5 computer generated 3d model.
3ddd
$1
Lola 5
...lola 5
3ddd
miniforms
lola 5 miniforms 300*65*134
3ddd
$1
Nexus 5
...dd
nexus , phone , телефон
google nexus 5 phone
3d_ocean
$15
iPhone 5
...iphone 5
3docean
3d 4d apple cinema iphone model modeling phone screen texture
iphone 5 3d model and texture realistic iphone 5.
Version
3ddd
$1
Diamond version
...nd , version , ванна
visionnaire - diamond bath
turbosquid
$50
LibraryMini Version
...free 3d model librarymini version for download as max and jpg on turbosquid: 3d models for games, architecture, videos. (1617724)
design_connected
$34
Barocco Version 01
...barocco version 01
designconnected
zanotta barocco version 01 computer generated 3d model. designed by progetti, emaf.
design_connected
$27
Barocco Version 02
...barocco version 02
designconnected
zanotta barocco version 02 computer generated 3d model. designed by progetti, emaf.
turbosquid
free
Door [2 versions]
...rbosquid
free 3d model door [2 versions] for download as fbx on turbosquid: 3d models for games, architecture, videos. (1223985)
turbosquid
$2
seat version 0.1
...
royalty free 3d model seat version 0.1 for download as blend on turbosquid: 3d models for games, architecture, videos. (1432653)
3d_export
$10
magnolia grandiflora mature version
...magnolia grandiflora mature version
3dexport
magnolia grandiflora mature version
3d_export
$8
room assets and voxel version
...room assets and voxel version
3dexport
room assets and voxel version
turbosquid
$12
Chip Version 03
...lty free 3d model chip version 03 for download as c4d and fbx on turbosquid: 3d models for games, architecture, videos. (1241145)
turbosquid
$35
Zil Civilian version
... model zil civilian version for download as cgf, fbx, and obj on turbosquid: 3d models for games, architecture, videos. (1639420)