This tutorial includes all the necessary information for the mechanical construction, electronic architecture, and software packages for Protei_007, including the laser templates and code packages. This can be constructed in a few hours. Required tools include a laser cutter.
MAJOR THANKS TO SEEED STUDIO for supporting the building of the following Protei prototype!
Step 1: MATERIALS
3' x 3' plexiglass, either 1/8" or 1/4"
Servo motors (preferably with a metal coupler - I use 17, 8 large ones, 5 medium ones, 4 micro servos) - I like these from sparkfun, but you can get them at many electronics or hobby shops)
3/8" vinyl tubing (for example)
18 guage wire
TOOLS / Accessories
DC power supply
Step 2: Laser Cut the Plexiglass Ribs
I used three sizes of servos. I made 8 large ribs for servos, 5 mid sized ribs for mini servos, and 4 small ribs on the ends (tail and head) for the micro servos.
Download the laser template files.
Step 3: Glue the Servos in the Ribs
Once the plexiglass ribs are cut, embed the servos in each rib. Sand down the plexiglass if you are having trouble fitting the servo in. Make sure that the servo arm can spin freely. If not, readjust the fitting of the servo inside the plexiglass so that it can. Use epoxy to hold them in place.
Step 4: Connect the Ribs
For the joints towards either end of the snake, I used a more flexible, organic joint, composed of the flexible rubber tubing. For this, cut about 3 inches of rubber tubing, and slip the tubing onto the servo arm. If you are having trouble sliding it on, use a heatgun by heating the tube, then pushing it onto the servo arm before it cools. For added structural support, screw the tubing into the servo arm.
When you do this, make sure that the servo arm, is always on the same side (so that when you attach the plexiglass ribs together, the joints will all be on one side of the snake body).
Step 5: BUILD the Structure Out
String the servo wires that hang free through the holes in the side of the ribs, from the back backward of the snake to the front.
Step 6: WIRE It Up
Step 7: Plug in Wires to a Breadboard or a Perf Board
Step 8: Add a Power Supply
Step 9: Upload the Code
I modelled this type motion:
Step 10: Let It Run!
Step 11: Optional: Add a Camera
Step 12: Optional: Add Wireless Control
First, I got the xbees talking to each other.
Then I got some button presses from one xbee to move some servos from the other.