Robot Cloning by DIY 3d Printers!
Intro: Robot Cloning by DIY 3d Printers!
DARwIn-OP is an acronym for (Dynamic Anthropomorphic Robot with Intelligence - Open Platform) or DARwIn for short. The DARwIn-OP was developed by the RoMeLa research lab at Virginia Tech in collaboration with University of Pennsylvania, Purdue University and ROBOTIS. ROBOTIS is a world leading South Korean robotics’ company. Their Dynamixel servos are the leading robotic servos in the world and the key to why the DARwIn-OP is so ground breaking. The lead designer of the DARwIn-OP project has Dr. Dennis Hong of Virginia Tech’s RoMeLa and ROBOTIS. The robot is a state of the art research and development humanoid robot. The DARwIn-OP weighs in at about 2.9 kilograms and a height of 45.5 cm.
The idea behind this project is to find new and cheaper ways to create and build robots. As 3d printing becomes cheaper and easier to use more and more people will have access to this way of manufacturing. I hope that this instrucable will open up more peoples eyes as to the power of this new personal fabrication method.
Below is a link to my Make magazine article on how I made the clone.
http://blog.makezine.com/2013/04/26/cloning-the-darwin-op/
STEP 1: Why I Wanted to Own a DARwIn-OP!
This is video of the DARwIn-OP in its natural environment Robocup soccer.
STEP 2: Download CAD File
Link to file location.
Other download information links
STEP 3: Create .STL Files for All of the Parts.
If you need a cheaper way try AutoDesk 123D Beta if you can still download it.
Here is a link to my Thingiverse project page for my DARwIn-OP clone where I have upload all of the .STL files for the robot.
http://www.thingiverse.com/thing:9793
STEP 4: Print Out All Parts on a 3d Printer.
UP! Plus 3d printer.
The Afinia H-Series: 3D Printer is the exact same printer.
STEP 5: Buy the Electronics for the Robot.
STEP 6: Buy Your Servos for the Robot.
Link to where to buy them.
STEP 7: Buy Fastners for the Robot.
http://www.mcmaster.com/
STEP 8: Assembly Robot
STEP 9: Download Software to Robot and Laptop
STEP 10: Turning on Robot for the First Time
STEP 11: Test the Robot
STEP 12: Redesign Parts That Break
STEP 13: Print Out New and Improved Parts
STEP 14: Reassembly Robot With the New Parts.
STEP 15: Retest Robot With New Parts.
STEP 16: Loop
{
CALL step 12,
CALL step 13,
CALL step 14,
CALL step 15,
}
STEP 17: Robot Is Working!
If you are like me, you will we always be going back to step 14 because of new ideas or ways to make your robot better.
Total cost for my project was 6000 USD if you don't include the 3d printers that I used. A lot of money yes but if you buy a factory made DARwIn-OP from Robotis the cost is 12,000.00 USD. So I saved about 50% of the cost of the robot by building it myself.
If you are interested in following future upgrades and mods to this robot you can check out my blog.
http://mike-ibioloid.blogspot.com/
Video of the robot walking:
STEP 18: Future Upgrade Possibilities.
Simplest would be changing there color to hardest which would be modifying their design.
A great example is changing the color of the covers to mimic the Ironman power suit.
Jet-pack and weapons for the power suit may take some more time and research.
The images where created in AutoDesk Inventor by my friend Yoshihiro Shibata.
65 Comments
moverstreet007 11 years ago
michaela.plavecka 3 years ago
Jonny1128 8 years ago
Ian JamesF 9 years ago
links to the parts are not working
moverstreet007 9 years ago
Which links? I am testing them now.
Tomdf 11 years ago
moverstreet007 11 years ago
When most people talk about regular servos they mean 10.00 analog servos from China. I have used them on lots of projects but they just do not have the holding torque, speed or resolution for humanoid robots.
http://www.robotis.com/xe/dynamixel_en
Even the low end AX-12s from ROBOTIS blow them away.
The only servo line that compares too them is the Kondo line of high end servos.
http://www.kondo-robot.com/EN/wp/?cat=14
I would tell you good luck and keep me updated on your progress.
JonathanL3 9 years ago
hi, CAn I use this project STL part files as is for AX-12A or AX-18A Dynamixel series?? Or it's only for MX series?
Thanks
moverstreet007 9 years ago
The brackets will only work with the MX-28s and MX-64s, sorry
JonathanL3 9 years ago
Ok thanks a lot
Tomdf 11 years ago
moverstreet007 11 years ago
drewnoakes 11 years ago
moverstreet007 11 years ago
yes very sweet servos!!
TedRobotBuilder 11 years ago
sarveshk 11 years ago
One method is to use a magnetic sensor. A guy had made a nice magnetic sensor and that was very cheap. It gave great results and he was selling it a few years back. I would post the link of that if I find it.
Another obvious method is make hole in the servo and read the pot directly. Here's a tutorial for it. http://letsmakerobots.com/node/27206
Of course in any of these methods you would have to open and modify the servo that might void your warranty. But looking at the price difference between a Dynamixel and Servo, warranty is not a big issue.
TedRobotBuilder 11 years ago
moverstreet007 11 years ago
JonathanL3 9 years ago
Hi Guys, I just need to know something, can I use these STL Parts files to assemble the Robot with AX-18A or AX-12A or it's only compatible with MX series form factor?
Thanks a lot
mikemcfarlane 10 years ago