Instructables
Picture of Simple Bots: Inchworm
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If you can count on only one thing, it would be a ruler. Now, don't get me wrong. I am not talking about supreme despots for life, or anything of that sort. The rulers that I am referring to are the measuring kind. After all, how can you not count on something with so many sequential numbers? That is why, when it came to deciding what the armature for Inchworm Bot should be, the only thing I could think of was my good, dependable friend, the ruler. After all, in the grand scheme of things, there is merely inches of similarity between the two.





 
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Step 1: Go get stuff

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You will need:

(x1) continuous rotation servo modified for direct drive**
(x1) 18" aluminum ruler (or longer)
(x2) small plastic container
(x2) 2" - 3" fixed casters
(x1) bic Classic pen
(x1) comb
(x10) small nuts and bolts
(x4) small washers
(x1) 2" - 3" metal standoff
(x4) zip ties
(x1) DPDT lever switch
(x1) 4 x AA battery holder
(x4) AA batteries
(x1) red and black wire
(x1) electrical tape

**Learn how to modify a servo motor for direct drive at this page.

Step 2: Cut the ruler

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Use a hacksaw and cut the ruler into two 9" sections.

(The convenient thing about cutting a ruler is that it comes pre-measured.)

Step 3: Fold a notch

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On one of your 9" sections, make two cuts 3/4 of the way through the ruler at 1/2" from the edge and 2-1/8" from the edge.

Place the ruler in a bench vice so that the bottom of the cuts are level with the top of the vice.

Hammer the section between the two cuts flat such that it is made perpendicular.

This will be your motor mount.

Step 4: Drill holes

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Place your servo motor into the slot you just cut and use a pencil to mark where its mounting holes are.

Remove the motor and drill through your marks with an 1/8" drill bit.
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LEducated1 year ago
Thanks to you Man.I official made my first ever robots.This will be the start of my adventure to more robot applications.More power to you again.
My own version thanks.still open for revision.
INCHWORM.bmp
randofo (author)  LEducated1 year ago
This awesome! Glad to see this worked out for you.
randofo (author)  LEducated1 year ago
Do you have a picture?!
boston093 years ago
this was a fun project, thank you.

i might add some wheels soon
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I was so inspired by your work that I put an inchworm bot together out of industrial scrap at work.
The only thing that's new is the gear motor.
http://www.flickr.com/photos/strider_mt2k/sets/72157625069322244/

I look forward to building more simple bots like yours out of industrial scrap!

Thanks for getting the wheels turning in my head!
randofo (author)  strider_mt2k1 year ago
Hi. Your flickr link appears to be broken. I was wondering if there is anywhere else we can see pictures of the bot you made? I recall it being pretty cool.
where are the spacers used??
randofo (author)  vinayakniraj00021 year ago
They are used in connecting the rulers in the center of the caster. See step 17.
isadcari2 years ago
is this a 2 pole 2 trow switch?? ...
randofo (author)  isadcari2 years ago
Yes
this is the most complicated model to make...
really tough
my switch isnt being flipped
could someone help me?
randofo (author)  sviswanathan2 years ago
What happens when you turn it on? Does the comb keep trying to push down on the switch? If it keeps applying force and does not reverse, then the switch is backwards. Simply, spin it around 180 degrees.

If the comb misses the switch altogether perhaps try elongating the switch by hot gluing a pen cap onto the lever.

If it is doing something else entirely, explain what is happening and I'll see if I can help.
jmacco3 years ago
great projet, i like it and is my project for the science fair
khobis3 years ago
it's really an awesome project.. i'm gonna build it as soon as i collect those stuff's
zap80043 years ago
could you use a 12' ruler
randofo (author)  zap80043 years ago
Sure, but you would need two of them. I used a single longer one simply because it was cheaper.
zap8004 randofo3 years ago
do I need to change other mesurements
bears03 years ago
i want to use a servo driver for RC cars, it has two servos and i want to substitute a servo for a motor, i'm planning on making an electric boat and i cant use a servo to make it go, if someone could tell me how it would be greatly appreciated.
axeman9113 years ago
what is an arduino?!!!
randofo (author)  axeman9113 years ago
An Arduino is a small programmable micro controller (circuit board) that plugs into your computer and you can use it to read sensors or control motors, electronic switches and other things that move.
thanx
Carnavislol4 years ago
can the Tupperware be about 3" tall?
randofo (author)  Carnavislol4 years ago
I don't see why not. May as well give it a try
Carnavislol4 years ago
wait should i get the continuous rotation servo motor or t he standard one...
randofo (author)  Carnavislol4 years ago
It doesn't matter. The controller is removed and it never rotates far enough where it will hit the stop.
Carnavislol4 years ago
That so awesome! I'm gonna build it soon with my friends! Very explanatory guide!
hyw_scott4 years ago
Nice, try to make one.
Kiteman4 years ago
A few broom bristles, taped to the side of the boxes, angled towards the rear and projecting slightly below the boxes should encourage forward motion, especially on carpeted surfaces. (Another nice one, Randy!)
randofo (author)  Kiteman4 years ago
I considered doing something similar involving pivoting doorstops, but didn't feel like adding a few more steps. Brush bristles would give the same effect in one step and is actually a really great idea.
muskogee4 years ago
also could you use a 9 volt instead of 4 AA's?
randofo (author)  muskogee4 years ago
A 9V battery is 3V more which is probably a little too high for the motor.
muskogee4 years ago
Instead of using a comb... couldn't you use another ruler? Maybe a 8 inch plastic one would work.
matstermind4 years ago
this reminds me of the most useless machine ever
macrumpton4 years ago
Very cool. It occurred to me that if you had a pendulum on the joint that shifted a weight over the rear leg when you are pushing the legs apart and shifted the weight over the front leg when the legs pull together, that there would be a lot less slippage. another approach would be to use some wheels with a ratchet that allowed only turning in on direction.
Nice work, great Ible. As a kit I used to have a construction kit for an inch worm "robot" with at its "feet" wheels with a ratchet blocking any backwards movement. It moved quite fast. You could ad something similar with yours. If you want to avoid wheels (to keep a more annimal like type of propulsion) you could add something else that allows forward movement and block the forward movement. Inclined bristles should work, which would give birth to a completely new type of bristlebot.
Dr KAZ4 years ago
I agree, the ruler RULES! It can be used to (indirectly) measure mass, capacitance, resistance, magnetic flux, velocity, etc. etc. etc. and if you are very creative it can be used to measure the iron content of spinach. Trusty old ruler. Thanks for a useful, clear, fun, cheap, instructable!
inblack4 years ago
Add some grip on the boxes and it sould run faster!
WingDings4 years ago
Great idea on the comb! That's a really innovative idea. Good work on the clear instructions and photos, too.

Could you also drill a larger hole in the ruler attached to the servo horn (the size of the other side of the servo horn that fits onto the servo spline), in the centre of the four holes that the servo horn bolts go through?

That way you could affix the servo horn, in the same orientation, but with the servo horn arms on the other side of the ruler and the spline side passing through the ruler. That would make the ruler attached to the servo horn a bit closer to the servo bearings, perhaps reducing the side-loading on the servo bearings?
Lindie4 years ago
I was anticipating how you made an inch worm, till I saw it. Very nice! LOL!!!
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