Wendell the Robot
Wendell the Robot
Wendell the Robot
Wendell the Robot

UPDATE: 12/21/2011 - Robot Zombie Dance, Smaller head (see below)

Born in dreams of 1980's, realized today.

What follows is my proposed design for a robot. A robot with a simple design, that is easy to share and change. A robot you can build with a hand saw or a laser cutter; from cardboard or karbonite. A robot you can share; and change. This is your robot. A for the people. A robot born in the dreams of the 1980's and realized today. A robot your children and your children's children will look back on and say 'that was THE ROBOT"

But I need your help. I don't have all the answers. I don't even have all the questions. But maybe YOU do - so please post comments. Leave your wishes and dreams; your 'why didn't you... s" and 'what if you... s'. Tell me what to build, and I will build it; then it will break; and then we will try again. And maybe, just maybe we'll get it right.

To this end I humbly submit to you --- Wendell --- Wendell the Robot.

Wendell is like a baby, silly and small, with a big head, tiny legs, and often, a funny smell. It is not the end but the beginning. An affirmation that says 'I can make that; I can make that BETTER!


(too much?)


Also - I'm submitting this to the shop-bot contest - I would us it to build robots

- VOTE FOR ROBOTS -

-Also - If you want me to make you one or send you all the pieces - check out my kickstart project:
http://www.kickstarter.com/projects/marc-cryan/build-wendell-the-robot-simple-and-open-first-50-u


PROGRESS UPDATE: 12/21/2011
Working on a Robot Zombie Dance based on the "thriller dance". A little tough without a waist, legs, or elbows. Check out the video bellow.... but don't get to excited.

Also - built a version with a smaller head and some shoulders.



Step 1: Let's begin

So - all rabble rousing aside. Here are the basic parameters:
  • Simple to build and easy to share.
  • All designs created using freely available software
  • Scallable Vector Graphics are preferred.
  • Open source electronics and software
  • Arduino based microelectronics
  • Arduino and Processing development enviroment
  • Simple motors and mechanics
  • Simple sensors

  • Note: an alternate 'skinny, small head' version is attached to this step. (next step has original files - big head, fat)
    Wendell the Robot
    wendel_Parts_ToCut_X01.svg203 KB
    Wendell the Robot
    Skiny_X01.zip124 KB

    Step 2: Print design and stick to plywood

    Wendell the Robot
    Wendell the Robot
    -Print PDFs and glue to 1/4 in plywood using an adhesive spray.
    Follow the directions for 'temporary' or 'low tack' if you want to be able to remove the template -a 4x4' sheet of luan is plenty
    -This step has the PDFs and the SVG (inkscape) files
    Wendell the Robot
    PDFs.zip111 KB
    Wendell the Robot
    wendel_Parts_ToCut_X01.svg203 KB

    Step 3: Cut out the parts

    Wendell the Robot
    Wendell the Robot
    All the cuts are straight, so you should be able to use whatever saw you have around.

    I am m using a small band saw with a thin blade.

    Step 4: Drill the holes

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Show All 8 Items
    Drill out all holes
    -I'm using a drill press but a hand drill would be fine.
    Brad-tip bits make a nice cut and are easy to position. For the 1"
    holes
    I am using a fostner bit - generally, good bits are worth buying.
    -The small holes are denoted with stars. Pre-drill these with a small
    bit, this is 1/16th". These are pilot holes for the brad nails, so make
    sure your drill bit is smaller than the nail. Using a drill press you
    can set the depth so it just touches the bottom of the hole; this leaves
    a little wood to grab the tip of the nail as you are working.

    Step 5: Note about drill presses

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Speed and torque are changed by moving a belt.

    Kepping everything in the middle is fine, but you will get better and faster cuts if you use the higher speed for small holes (belt is all the way up - big to little). Lower speed for the big holes (little to big pulley)

    Step 6: Cut out the slots and big areas

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    The slots and big cutouts are a pain to do by hand. Hopefully we can get eliminate these from the design.

    Drill out as much material as possible, then clean up the edges with knife or chisel. Try not to get blood on the parts.

    Step 7: Layout the pieces

    Wendell the Robot
    The pieces are labeled to help guide assembly.

    I find it useful to lay all the pieces out, as if you where unfolding a box.

    Step 8: Assemble the body

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot

    -Assemble to pieces starting from the front (face) and work towards the
    back. By starting with the most visible part of the robot, you can move
    any gaps are mistakes to the back.

    Leave the back of the head and body open for now.

    Step 9: Assemble arms

    Wendell the Robot
    Wendell the Robot
    -Each arm is made of two parts - for this version you can just tape them
    together. You could also put standoffs between the peices which would
    leave a gap for motors and wires.

    -Attach the servo armature to the robot arm. Using brad nails, attach the servo arms to the inside of the
    robot arms. Line up the holes.

    Step 10: About Servo Motors

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Hobby servo motors come in a variety of sizes.
  • Small, medium, large
  • Continuous or 180deg rotation
  • Attachments
  • Wiring:
    Hobby servos are easy to wire.

    Black/brown to ground
    Red to Vin
    Yellow/orange to a digital PWM pin

    You can tie together all the ground wires and all the Vins.
    But the PWM lines have to each go to a separate pin.

    Step 11: Programming

    The arduino servo library makes these motors simple to work
    with. You just tell the servo an angle and it does it.

    Video






    *********** ARDUINO CODE ***********


    ******####################

    Step 12: Assemble servos

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot

    -Start with the servos that will attach to the arms. The come with
    screws. Using a small screw driver you can reach inside the body and
    screw down the motors. I used an awl to start the holes, I might add
    pilot holes to the next version.

    -You can leave this so it will fall off easily (this protects
    the servo motor from any real damage and is good if you want to make
    quick adjustments)
    -Or you can add a screw, feeding it through the hole in the

    Step 13: Attach the head servo

    Wendell the Robot
    -Use the same method to attach the head.

    Step 14: Mount wheels

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Large continuous rotation servos are used for the wheels.

    Tires are made from spleen (the cord that holds screens onto screen windows)

    Brackets are made from plumbers strap.

    Step 15: Foot

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Unless you want to build a self balancing robot, we have to add a third support.

    I've made a foot out of shape-lock and a bolt.

    Shape lock can be melted in hot water then molded by hand, once cool it is hard and slick.

    Step 16: Build perf board for servos

    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
    Wendell the Robot
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    Build a simple board with headers for the servos.


    Step 17: Wire perfboard

    Wendell the Robot
    Wendell the Robot
    Connect servo wires to perfboard
    Connect perfobard to arduino
    Connect motor power to perfboard

    Pin Map:

    Function Pin (all PWM) Right arm ~11 Head ~10
    Left Arm ~9
    Right wheel ~6
    Left wheel ~5
    Speaker ~3


    All black/brown go to the motor battery negative.
    All red go to the motor battery positive

    Speaker: Positive to pin ~3 - Negative to arduino ground

    Arduino power supply:
    Arduino battery negative to Arduino ground
    Arduino battery positive to Arduino Vin

    Step 18: Mount electronics

    Wendell the Robot
    Wendell the Robot
    2 battery packs
    Arduino with perfoboard

    Strapped together with velcro

    Step 19: Program

    Here is a program that runs all servos and a small speaker:



    ////////////////////////// ARDUINO /////////////////////
    //tests all servos and sound

    #include

    Servo armRight; // create servo object to control a servo
    int pos = 0; // variable to store the servo position
    Servo armLeft;
    Servo head;
    Servo wheelRight;
    Servo wheelLeft;
    int soundPin = 3;
    int pitch;

    void setup()
    {
    armRight.attach(11);
    head.attach(10);
    armLeft.attach(9);
    wheelRight.attach(6);
    wheelLeft.attach(5);

    }

    void loop()
    {
    for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
    { // in steps of 1 degree
    armLeft.write(pos);
    armRight.write(pos); // tell servo to go to position in variable 'pos'
    head.write(pos);
    wheelRight.write(pos);
    wheelLeft.write(pos);
    pitch = map(pos, 0 ,180, 31,4978); //map position to tone
    tone(soundPin, pitch, 200); // pin, note, time?
    delay(15); // waits 15ms for the servo to reach the position
    }
    for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
    {
    armLeft.write(pos);
    armRight.write(pos); // tell servo to go to position in variable 'pos'
    head.write(pos);
    wheelRight.write(pos);
    wheelLeft.write(pos);
    pitch = map(pos, 0 ,180, 31,1000);
    tone(soundPin, pitch, 200); // pin, note, time?
    delay(15);
    } // waits 15ms for the servo to reach the position
    }

    Step 20: Run everything at once



    Here is a video -





    Step 21: What next?

    What to do next .....


    - microphone - hearing?
    -Range finder?
    -Add more joints?
    -Perform a specific task?
    -Obstacle avoidance
    -Remote control
    -Robot-to-Robot communication?
    -Light seeking?
    -Easier assembly?
    -Laser cut version?
    -Fold up like a transformer robot?
    -Add camera?
     
     

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