"Perseverance Petite, Motorized" is a motorized version of my previous model "Perseverance, Petite". I designed, assembled and tested this model for use with a solar rechargeable power supply. Using this power supply allows me to place the model near a window with the solar cell facing the sun, and it runs day and night, non stop, using no mains power or replaceable batteries. I've also found the charger to work well with a halogen light as opposed to the sun, but that defeats the purpose!
You will need to purchase a gear motor and power supply to complete "Perseverance Petite, Motorized" as described in the first step.
With the exception of "Base.stl" and "Axle Gear for Motor.stl", all parts are interchangeable with "Perseverance, Petite".
As usual, I probably forgot a file or two or who knows what else, so if you have any questions, please do not hesitate to ask as I do make mistakes in plenty.
Designed using Autodesk Fusion 360, sliced using Cura 2.5.0, and printed in PLA on an Ultimaker 2+ Extended and an Ultimaker 3 Extended.
Step 1: Purchase, Print and Prepare the Parts.
As mentioned, you will need to purchase both a gear motor and a power supply to complete this model. The gear motor I used is a 6VDC 60rpm gear motor ("DC 6V 30RPM 3mm Shaft Mini Metal Gearwheel Gear Motor GA12-N20") I found on Amazon, but they are available from numerous other suppliers.
The power supply I used was a solar recharged 3.7mAh lithium battery power supply from Adafruit. The components are the solar panel (Medium 6V 2W Solar panel - 2.0 Watt PID: 200), adapter cable (3.5 / 1.3mm or 3.8 / 1.1mm to 5.5 / 2.1mm DC Jack Adapter Cable PID: 2788), solar charger (USB / DC / Solar Lithium Ion/Polymer charger - v2 PID: 390) and battery (Lithium Ion Polymer Battery - 3.7v 2500mAhPID: 328), however, you can use any 1.5 to 6vdc power supply or battery. If you chose the power supply I used, assemble it as per the instructions.
The power supply I chose came with a JST connector with a red and black wire. I soldered the red wire to the motor + terminal, and the black wire to the motor - terminal.
I printed all parts on an Ultimaker 2+ Extended and an Ultimaker 3 Extended at .1mm vertical resolution. I've attached a PDF containing the name, count, infill, brim, raft and support settings for each of the parts.
Prior to assembly, test fit and trim, file, sand, etc. all parts as necessary for smooth movement of moving surfaces, and tight fit for non moving surfaces. Depending on the colors you chose and your printer settings, more or less trimming, filing and/or sanding may be required. Carefully file all edges that contacted the build plate to make absolutely sure that all build plate "ooze" is removed and that all edges are smooth. I used small jewelers files and plenty of patience to perform this step.
This model uses threaded assembly and all threads are M6 by 1. Note in the PDF that I printed certain parts with threaded holes on a raft in order to make post printing clean up of these parts much easier. If after printing the threaded holes are difficult to install a part into, then use an M6 by 1 steel screw, or an M6 by 1 tap to clean them.
Note also I printed "Torso.stl" and "Base With Motor Mount.stl" using a brim to assist in keeping these parts in place during printing.
- Arm Leg Long.stl
- Arm Leg Short.stl
- Arm Torso Long.stl
- Arm Torso Short.stl
- Axle Arm Torso Short.stl
- Axle Arm Leg Torso.stl
- Axle Arm.stl
- Axle Arms.stl
- Axle Gear for Motor.stl
- Axle Gear Idler.stl
- Axle Gear.stl
- Axle Leg Lower.stl
- Axle Torso.stl
- Base With Motor Mount.stl
- Eccentric Leg.stl
- Eccentric Torso.stl
- Leg Left Lower.stl
- Leg Left Upper.stl
- Leg Right Lower.stl
- Leg Right Upper.stl
- Spur Gear (10 teeth).stl
- Spur Gear (20 teeth).stl
- Perseverance Petite, Motorized.pdf
Step 2: Assemble the Character.
Attach the two "Arm.stl" to "Torso.stl" using two "Axle Arm Leg Torso.stl" as shown. The arms should pivot freely.
Attach "Leg Left Lower.stl" to "Leg Left Upper.stl" using "Axle Leg Lower.stl". The lower leg should pivot freely.
Attach "Leg Right Lower.stl" to "Leg Right Upper.stl" using the remaining "Axle Leg Lower.stl". Again, the lower leg should pivot freely.
Attach the left leg assembly to the left side of the torso using one "Axle Arm Leg Torso.stl" as shown. The assembly should pivot freely.
Attach the right leg assembly to the right side of the torso using the remaining "Axle Arm Leg Torso.stl" as shown. Again, the assembly should pivot freely.
Step 3: Assemble the Base.
Use "Axle Gear Idler.stl" to join two "Spur Gear (20 teeth).stl" to make the large idler assembly. Make sure the assembly is tight, the teeth of the spur gears align, and the two gears are parallel to each other as shown. Slide this assembly into "Base.stl" in the position shown and secure in place with two "Axle Gear.stl". Once secure, the large idler assembly should spin freely in the base.
Install the remaining "Spur Gear (20 teeth).stl" into the base as shown and secure in place using two "Eccentric Leg.stl". When securely tightened the two eccentrics must be 180 degrees apart from each other (when one eccentric is pointing straight up, the other must be pointing straight down). If when securely tightened the two eccentrics are not 180 degrees apart, remove them, make a small ball using a 4mm square piece of tissue, place it inside the gear threads, then reinstall the eccentrics and try again. When complete, the gears should spin freely in the base.
Install the first "Spur Gear (10 teeth).stl" into the lowest spur gear 10 teeth position in the base as shown and secure in place using two "Axle Gear.stl". Test to make sure the gears spin freely in the base.
Install the second "Spur Gear (10 teeth).stl" into the highest spur gear 10 teeth position in the base as shown and secure in place using one "Axle Gear.stl" and one "Eccentric Torso.stl". The gear should spin freely in the base.
The final spur gear 10 teeth is installed last, in the center spur gear 10 teeth position. After this gear is installed, "Eccentric Torso.stl" must be pointing to the rear of the base (to the right in the photograph), and the left "Eccentric Leg.stl" must be pointing straight down. To accomplish this, rotate the left "Eccentric Leg.stl" so that it points straight down, and rotate "Eccentric Torso.stl" such that it points straight down, then slide the final "Spur Gear (10 teeth).stl" into position between the first two "Spur Gear (10 teeth).stl". When sliding the final spur gear into position, hold "Eccentric Leg.stl" pointing downward, and allow "Eccentric Torso.stl" to rotate into position. Secure the final spur gear 10 teeth into position using one "Axle Gear.stl" and one "Axle Gear for Motor.stl". Note "Axle Gear for Motor.stl" is installed on the motor mount side of the base. Make sure all gears are spinning freely.
Install "Arm Torso Short.stl" into the base in the position shown using "Axle Arm Torso Short.stl". The arm should pivot freely in the base.
Next install "Arm Torso Long.stl" into position as shown using two "Axle Arm.stl". Attach the end of "Arm Torso Long.stl" that has a small dot on the arm face to "Eccentric Torso.stl", and the center to "Arm Torso Short.stl". The gears should spin freely after these arms are installed.
Install one "Arm Leg Short.stl" into the base in the position shown using one "Axle Arm.stl". The arm should pivot freely in the base.
Next install "Arm Leg Long.stl" into position as shown using two "Axle Arm.stl". Attach the end of "Arm Leg Long.stl" that does not have a small dot on the arm face to "Eccentric Leg.stl", and the center to "Arm Leg Short.stl". The gears should spin freely after these arms are installed. Repeat this process for the remaining side.
Finally, rotate "Axle Gear for Motor.stl" such that the motor shaft hole aligns with the motor shaft, then press the motor into position into the base as shown.
Step 4: Attach the Character to the Base.
Attach the Characters arms to the base using "Axle Arms.stl" as shown.
Attach the Characters torso to "Arm Torso Long.stl" using "Axle Torso.stl" as shown.
Attach the Characters Legs to the two "Arm Leg Long.stl" using two "Axle Arms.stl" as shown.
Attach the motor to the power supply, and away it goes! If your model doesn't go, remove the motor from the base and rotate the gear train by hand to make certain the gear train rotates freely and the character moves freely.
Congratulations, you are done!
Hope you enjoy it!