Step 4: Software and Actuators

All the robots are use Dynamixel servos. These smart servos have good torque, also embedded encoders


The first Arduino library was written by Alejando Savage for AX-12 http://savageelectronics.blogspot.co.uk/2011/01/a...

and a new updated version for MX series can be downloaded here: http://savageelectronics.blogspot.co.uk/2011/01/a...

We also used an Arduino Mega plus drivers.


You can download the processing and arduino files to control the robots with documentation of the servos in our Github With Special thanks to Guillem Camprodon.

<p><em>&quot;Small Robots&quot;?!?</em></p><p>They really are tiny (compared to earth) :)</p>
<p>What is the material that you are using?</p>
<p>Brilliant work! I was hoping it was a more general print bot than the three separate specialized bots, but specialized bots could also be added to accomplish other tasks of construction such as plumbing and conduits for electrical systems. A small &quot;pipebot&quot; could make structural tubing around itself, possibly with a second print head for a rigid foam core. Coordinated little pipebots could make honeycomb cell structures for strength. A fiber placer could also be rigged to insert fibers that stick through and up out of the bead allowing higher strength before the need of the vacuum bot.</p><p>Man does this have my gears turning.</p><p>Thanks!</p>
<p>Brilliant rethinking of 3d printing for large structures!</p><p>The flexibility of these robot's capabilities seem like they would be very impressive, but I find myself wondering if a much cheaper and simpler version could be designed to create simplified housing for disaster areas and other low income communities. I imagine something with a shape like a beehive sort of like the domes created by spirally winding continuous sandbags like these:</p><p><a href="http://www.earthbagbuilding.com/projects/smalldomes.htm" rel="nofollow">http://www.earthbagbuilding.com/projects/smalldome...</a></p><p>The device would not even need much in the way of computing power. The extruder could be guided mechanically, Sort of like this:</p><p><a href="http://jimsoven.blogspot.com/p/the-dome-part-i.html" rel="nofollow">http://jimsoven.blogspot.com/p/the-dome-part-i.htm...</a></p><p></p><p>Of course for this purpose using local materials would be best, but if the polymer/marble dust is cheap enough it would still be practical.</p>
<p>Is this thing DIY? Are there plans available?</p><p>Maybe there is a link here, but I don't see it.</p>
<p>I would like to suggest that, rather than using suction to hold the third (suction) robot in place, you take advantage of the inherent complexity of the structures that the grip robot can lay down, and have it &quot;build in&quot; a track for the suction robot to hold onto and follow. For instance, the grip robot could make a small series of indentations beginning every 0.2 meters horizontally and continuing throughout that horizontal layer. Then it would create an overhang in subsequent horizontal layers. The third (suction) robot would have notched wheels that would fit into this track, holding it to the surface. This would eliminate the need for a complex, failure-prone suction system, and also provide a built-in self-metering (measuring) system that would improve position accuracy. If I'm not being clear please contact me and I'll make a diagram. </p>
<p>that must be quite expensive!! how long did that take?</p>
My brain just melted. Really quite awesome.
This is by far the most incredible and amazing thing ever to come out of instructables. This is so inspiring.
<p>How much for a boat? great ible!</p>
<p>This is really cool. Basically a six-axis 3D printer. I want one.</p>
absolutely awesome! 3D printed house anyone!??
<p>Oh yeah.</p><p>Waste-free construction is the future!</p>
<p>Amazing work. Thank you.<br>And now for something that will make you laugh.</p><p>Your incredible project reminded me of part of a 1974 movie (not very good, except in parts) called The Groove Tube. <br>The part you have to see is this <br><iframe allowfullscreen="" frameborder="0" height="281" src="//www.youtube.com/embed/008BPUdQ1XA" width="500"></iframe></p>
<p>I take it the building material doesn't shrink much, or cracks might form. Rebar, or mesh, or some sort of fiber worked into the material is the usual solution in cement construction. This appears to have none. Do you ever wish it had some back-up fiber worked into the form?</p><p>A really nice instructable. Thanks. </p>
<p>Awesome, but please edit the audio so the &quot;music&quot; is 1/2 the volume. The people speaking have accents (to English speakers) and the obnoxious volume smothers their voices. And those of us who find this amazing would prefer to hear them, not the electronic buzz behind them. </p><p>loved it, I often thought what a hoot it would be to connect a pump/feeder to a fast set plaster/cement kinda like spray on cement. As I have no ability to make that I love that someone else did. </p><p>Bravissimo</p>
<p>I love your 1st paragraph :</p><p>There has always been a close relationship between architecture and technology. However, recently architecture has stagnated and the construction industry has been slow to adopt technologies that are already well established in other fields. Whilst we design digitally we still construct manually.</p><p>Thanks for sharing</p>
That is extremely cool. Except for one picture in which the device is being pushed by someone, it is very hard to understand the size of the objects. A human operator perhaps for proportion in the images?<br>A time lapse video of this project will win the interwebz :)
<p>Just saw the video which was not visible in the instructable app. The process is well thought of and the robots work well. I especially liked the third one which sticks with suction.</p>
<p>Wow, amazing!</p>
<p>I remember seeing this project elsewhere online a while ago. Thanks for posting to Instructables! I love this idea.</p>
<p>Wow, wow, wow... Absolutely amazing. 3d printers are the new future of buildings ,architectures, engineering, industrial, design and art.</p><p>Try contact with NASA, they are working with private corporations on giant 3d printers to settle bases and buildings on planets.</p>
Impressive! And everybody keeps complaining about the ever too small max sizes that 3D printers can spill out. :)
<p>This is so innovative and cool! I'd never thought that tiny 3d printers could be so capable at printing anything bigger than them... Nice job, thanks for sharing!</p>
this is really cool. it's amazing to see everything these 3d printers can do

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