Introduction: Tito - Arduino UNO 3d Printed Robot
Tito is a Biped dancing DIY robot, derivative from Zowi and Bob, basically has been adapted to an standard Arduino UNO board with easier connections and supports. It was the first iteration for Otto DIY (ottodiy.com)
Step 1: Tools & Materials
Arduino UNO board or compatible (in my case a DFRduino UNO)
Futaba servo S3003 x4
HC-SR04 Ultrasound sensor
Nut M3 x20
Screw M3 x20
3D printed Head
3D printed Base
3D printed Leg x2
3D printed Foot R
3D printed Foot L
Tools: 3D printer, allen key and screwdriver
Step 2: 3D Print Parts
3D .stl files here: http://www.thingiverse.com/thing:1378605 Find a way to 3d print the parts, they are designed for no supports so is very easy to print with 20% infill and 0.2mm resolution.
Since is Tito is completely opensource you can find the design 3d model files made in Autodesk 123D Design here:
Step 3: Pre Assemble
There is many was to build Tito, but one recommendation is before the connect the servos is to assemble the servo disk pieces to the legs, then put the servos in the body and the feet..
Step 4: The Schematic
Follow the picture for the connections. HC-SR04 Ultrasound sensor (trig for pin 8 and echo for pin 9). During the making process you may need to disconnect and connect constantly so just keep this schematic present for further fixes.
Step 5: Test the Position of the Servos
In the picture the cables are disconnected but the idea here is to upload a code to the Arduino UNO board that will put the all servos in 90 degrees and then match the right angle for the crank discs in the body and the feet. Tito should be in a position like the photo. then you can fix all the servos with the screw axis.
Step 6: Assemble Arduino UNO Board
This design make it easy to fix any Arduino Uno compatible board (in my case a DFRduino UNO) in the head part, you can use up to 4 screws.
Step 7: Final Assembly
If all connections are secured you can close the head part and fix it to the body using the lateral screws.
Step 8: Arduino IDE Programming
All libraries and sketch codes are in this Github repository. Just connect your USB cable to Arduino UNO and upload the codes There are many programmed movements for the robot like walk different directions, ultrasound, raise, tilt and dance.