Introduction: Micro Paper Robots (cyborg Crab)

Its a hexapod robot, its only a few millimeters high and its made almost entirely from paper !

Each of the mechanized insect's legs are fully articulated and it has the capacity to move at speeds of up to 240 steps per minute.
Once built this robot can move sideways much like a crab and the legs have a synchronized walking pattern thanks to the mechanism which I will explain in the instructable.
Also, this little creature is so small you can store it in a match box or even at the bottom of your pocket and although it is pretty fiddly to make once you get the hang of making them you can make yourself a swarm of miniature, paper robots!
Furthermore,because this robot is made only from paper and salvaged electronic components your robot army can cost you virtually nothing !

WARNING:
this project is very reliant on the correct dimensions and precisely cut components because it is so small and if there is even a slight error in the measurements the robot is liable to jam and stop working. I have reduced this problem for you by providing a template for the pieces however, take care when cutting. Also I used a pair of regularly shaped gears which I found ,when I tried to test, to be susceptible to jamming and so I will also detail how to make this robot using a worm drive which, according to my walking experiments, will mean far smoother mechanized walking.

Materials:
-paper clip
-4 sheets of A4 paper/ 2 sheets of A4 card
-small motor (can be taken from old RC helicopters or bought from here :http://www.active-robots.com/motors-wheels/small-geared-motors)
-Use two LR44 button batteries if you want your robot to be self contained. If you want to hold a 9V battery while the robot runs along the ground this gives a much faster speed but doesn't look so great.
-small worm gear to fit the diameter of your small motor and an 8mm diameter gear with 18 teeth
-40 small pins
- superglue
-mini switch







Step 1: The Blueprints and Templates

Print off the image of the different components onto either card or paper.
stick your card onto another sheet so it is double thickness, if you are doing this with paper you should make it 4 times the thickness.
now cut out the individual components and set them out as shown so that you don't get confused.
If you are doing the worm drive you don't need to worry about cutting out the ii) template because this will not be needed.
I used a sharp end of a paper clip to puncture holes in both the components. If you think you have cut these bits out inaccurately you should re-print and cut them because any distortion could lead to jamming.
Look at the top right hand corner to the thin shaped diagram, this will be the shape of your axle. Take a paper clip and bent it to this shape using a pair of pliers.

Step 2: Pinning the Bits Together

Firstly take your leg pieces and push a pin through the top hole, next slip on one of the 2nd largest attachment strips (attachment strips are the long thin shapes which you have cut out, image on the last step).
next take the longest attachment strip and feed the pin through the second hole now push onto the pin the smallest attachment strip.
now take this and pin it on the 3rd hole into the bottom hole of the leg. once you have finished leg mechanism you should take your super glue and glue the bases of the pins and leave to dry.
Once dry, using a pair of wire cutters cut off the pins as close down to the paper as you can, this is to avoid unnecessary abrasion on the other moving components.
The center legs have two legs on each side for stability when moving so according to the pictures do the same as above but with two legs together instead of one.
once you have three completed leg pairs place your bent paperclip through the 1st hole of each long attachment strip to ensure that it all can slip on and off with ease later on.

Step 3: Attaching to Center Plates and Testing Articulation of Legs

Now using the same system of gluing and cutting pin the attachment strips onto the center plates as shown in the pictures above.

To test the legs work: push the bent paper clip through the center hole in the plate and the two long attachment clips making sure that the attachment clips ore on an elevated section of the clip and the center plates are on the longer and lower parts of the bent clip now rotate the paper clip and as if by magic the legs will start to move in synchronicity  and in a walking fashion.

Step 4: Inserting the Axle

push on the leg mechanism with double legs into the center of the axle (paper clip) and blue tack it down onto the side of a 9v battery (conveniently the correct width to slip between the legs and so helps stability when working on the robot)
again make sure that the attachment strips are on the slightly elevated bit in the center of the axle and the center plate is on the flat part of the axle.
If you are doing the worm drive (advised)  don't bother putting on the second piece shown in the pictures. 

Step 5: Attaching to the Base

Now stick down ,using superglue, your base (rectangle you printed out earlier) onto the bottom of your center plate. Stick the center plate onto the line 2nd in from the end.
Again using superglue attach your gear onto the axle directly on the other side of the center plate from the leg mechanisms. I have highlighted the correct positioning with a circle.  leave to dry.

Step 6:

Now push on one of the other leg mechanisms onto the end of your axle,again, making sure that the two attachment points are on the elevated part and the main plate is not. stick using superglue this plate onto the base at the very end (the legs should jut out a little bit)
DOUBLE GEAR ONLY:
According to the photographs stick your remaining gear onto the motor axle.
then place the motor axle into the hole at the top of the center plate by cutting down a strip. now you can stick the bulk of the motor onto the motor mount plate. Make sure that the teeth are interconnecting before you stick everything down.
WORM DRIVE ONLY:
now for the fiddly part, you need to take your motor with the worm drive stuck onto its axle and stick the motor with heat resistant superglue vertically so that its worm gear is interlocking perfectly with your cog that you previously stuck onto the axle.
Sorry for the lack of photographs but I decided not to use the worm drive method for my robots because i) I lost my worm drive gear and ii) it is not as fast. But I advise using the worm drive because having done a number of experiments it is much less susceptible to jamming and if you make any minor errors it does not matter so much with the worm drive.

Step 7:

Almost there !
Take your last remaining leg mechanism and mount it onto the other end of the axle in the same way as you did with the other side.
Stick down, using superglue, this mechanism onto the base.
take your switch and solder it to one of the wires. If you cannot solder simply wrap this stripped end of the wire around one of the metal plates coming out from the switch. now take another length of wire and attach this to the other attachment point of the switch.
take your 2 button batteries and stick them to the top of the robot using superglue making sure they are touching each other (you can use velcro if you will want to replace the batteries)
now solder your wire coming from the switch onto the the top of one of the batteries and take the other wire and solder this to the bottom of the other battery.

Step 8:

You can now make whatever exoskeletons, coverings, decorations and armour that you would like and cover your micro crab.
I chose to make a segmented exoskeleton but,of course, out of paper and I highlighted the edges with black.

You now have a fully armoured, articulated robot hexapod made almost entirely from paper and about the size of a penny!
Time to get working on your swarm !

Comments

author
YUSUF6731 (author)2016-12-04

If any one is created it...plz add a video,how its made and how it works ..please its a request.

author
Boss13254 (author)2014-12-14

where Can i get the gears???

author
DanielS274 (author)Boss132542015-12-10

well... you can buy them here

http://www.ebay.com/itm/Tamiya-08-Module-Steel-Pin...

or if your like me and have many rc parts and old rc cars laying around then just salvage some from those.

author
jOker58 (author)2015-07-09

very good instruct able I make mine with aluminum instead of paper it's petty awsome

author
Jake Earles (author)2014-12-19

Can you please add a link to the template because the image of it seems to big when it is printed out

author
damien093 (author)2014-11-22

I am going to make this. It seems that paper and card are such good materials for small toys like this. Eg. Even gears can be made of paper! People who like this may also be interested in this:

https://www.youtube.com/watch?v=Jx7nS7_Kf7E

author
laith mohamed (author)2014-07-17

What a small robot is that.... !!!

author
ualbuquerque (author)2014-07-12

muito legal


author
Dromaeosaurus (author)2014-01-08

what size do I need to print the template onto? should it be A4 size, or half of an A4 sheet?

author
hguan (author)2013-07-30

Loooove it!!!! Sooo gonna make 10/10

author
drobinson25 (author)2013-07-23

Dude that's insane

author
Hassan 9 (author)2013-07-20

please add a video

author
ClarencePeabodyESQ (author)2013-07-19

I might design my own after trying out the design displayed here. It will help me understand how the process works.

author
ehudwill (author)2013-06-23

Thanks for the idea for my next army!

author
Big Baneser (author)2013-06-22

Coooooolllll!!! How do you print the template?

author
SuperTech-IT (author)2013-06-18

VIDEO !!!!!!!!!!!

author
hertzgamma (author)2013-06-16

How does it move? Can you demonstrate if it moves at all with a video?

author
ledXcrafter (author)2013-06-14

Where is da video? Would be great to see it move around!

author
mhallman79 (author)2013-06-12

I built one of these and I think I screwed up the axle. When I turn the axle the plates move back and forth until they tear away from the base. Any advice on making the axle? I made sure all pieces were cut accurately and all holes in the right spot.

author
mhallman79 (author)mhallman792013-06-12

I believe this is the case, although the raised sections were only slightly higher that the diagram, I think it was enough to impede the turning of the axle.
I'm just not sure how to bend the paper clip to the exact proportions.

author
vishalapr (author)2013-06-10

I keep having a look at this instructable every day, a video would make this instructable perfect!

author
argha halder (author)2013-06-09

the best instructable ever i have seen.awesome

author
asid61 (author)2013-06-08

This is so cool. One of the best instructables I have ever seen, and it gives me some great ideas.

author
mhallman79 (author)2013-06-06

Do you have any other similar creations (paper robots) that you could share?

author
zanethebrain (author)2013-06-04

Your template would have worked, it was just that the curves on the center plates weren't uniform and the holes didn't look like they were in exactly the same spot. It looks like you drew it on the computer, so I understand why they weren't perfect.

author
mhallman79 (author)2013-06-04

Great job! I am in the process of building this. I would love to see a video and an example pic of the worm drive.

author
zanethebrain (author)2013-06-03

The template is not very precise... I ended up making my own based on your template...

author
AJMansfield (author)2013-06-03

This Needs A Video.

author
throwmass (author)2013-06-03

Great design, just wondering does this robot walk sideways or forward? because by the look of the steps I get an image of the robot walking sideways XD but anyways its a good and simple design!

author
chuckyd (author)2013-06-02

This begs for a video of the final project.

author
the alphabet (author)2013-06-02

I do not have much to do this sunday night so i got some parts out of my office and build it. it is a very amazing structure. Great job!

author
Mic100 (author)2013-06-02

Nice work thanks :=)

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827412 (author)2013-06-02

gracias.

author
toutoune (author)2013-06-02

So good ! congratulations !

author
Blaise_Gauba (author)2013-06-02

Very cool! Looks like you had a lot of fun doing this project. Thin sheets of Styrene would make it stronger and more durable. You can buy them at hobby shops and craft supply shops. But I love that you made this mini-robot out of paper. I'm impressed!

author
bsg68 (author)2013-06-02

That's cool

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amerivc (author)2013-06-02

Love it so freaking awesome

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M.C. Langer (author)2013-06-02

Thanks! Videos are a powerful tool when you want to promote a robot :-)

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M.C. Langer (author)2013-06-02

Amazing!! It will be awesome if you insert a video of this creature in action.

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ultrakill (author)2013-06-02

this looks great, i'm going to stick the template onto some plasticard (sheet polystyrene) to make some sturdier little ones, could also let me downsize your design even more if i can find a small enough motor...

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Tomdf (author)2013-06-02

So freagin sweet!

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hkortus (author)2013-06-02

A little complicated

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vishalapr (author)2013-06-02

That looks great! A video would be awesome
Thanks for sharing

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zanethebrain (author)2013-06-01

I have an old broken rc helicopter and had been wondering what I could do with it. I'll have to build a couple of these! Great instructable!

author
busterdavidson (author)2013-06-01

I was hoping to see a video of it in action.

Very cool idea though and nice construction!

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ssonier (author)2013-06-01

Can we see it in action Please?

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Ironsloth1993 (author)2013-06-01

Very cute. Very cool. Very smart. I'd like to build these with a girl I like. Thank you!

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Arty Marty (author)2013-06-01

Most obvious instructable ever to have a video. It looks awesome so stop teasing us!

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Bongmaster (author)2013-06-01

nice :)

author
TecDroiD (author)2013-06-01

Seen it, love it! great little project.