Unfortunately the economic downturn has hit this project as well :(

The wonderfully nice guy who had offered to laser cut our aluminum for this machine was fired as his company went under some months ago. The problem is that unless I can find a free cutting job this project will not turn a profit. As all profits were to go to a charity…. well it kinda defeats the main purpose.

Soooo long story short: ROJ1 is currently on hold pending either a new cash source or another free laser cutter.

On hold, but not gone.

Take care,

J

Oh dear… robot puns as titles… I very well may have lost it..

It’s been a while but I promise you, it’s well worth it: I think I have a wall design.

It’s a design that pulls heavily on things I learned doing the previous versions… sort of a hybrid of the geometrically defined style and the more natural looking types. I wanted something that pulled the line between organic and mechanical and I think I’ve managed it.

Of course, I can’t fully let it be done and I’m sure I’ll be making tweaks on it right up until the last second before I have to submit the files to get laser cut, but I think (hope, pray, etc.) that the final version will be based quite heavily on this design.

Ok, I think I hyped it enough… on to the picture!

Sadly Solidworks has decided to crash every time I try to output this model as a 3d PDF but here’s an image of the new gal:

…and here are the Solidworks source files should you want to poke around in them.

It’s really starting to come together and I’ll hopefully be finding a source for the HS-805BB servos.

Care to donate some servos? I’ll GLADLY give you ad space, cookies, solidworks modeling, etc. Oh and your name (or company name) will get laser etched onto a plate on RJ1!

Should you want to get in on some crazy robot-y action please toss an email over to donations (at) robotsofjoy.com

Well it has been quite a while (Real Life® reared it’s ugly head) since I got an update out so here we go:

Two new parts designed this week as well as a major decision on the structure!

First off the design decision:
As can be seen in the earlier models, RJ1 featured a solid wall design where the side panels were also structural components holding the top up. However, due to some recent developments (namely that the laser cutter can only cut 1/8th of an inch and a mighty need to shed weight) the side panels will now be made from 1/16th inch aluminum and simply serve to keep your friend’s grubby mitts off of the motherboard (oh, and look really cool to boot!) The sides and top will be held with corner posts that take on the structural side of things.

Below is a graph showing the weight difference vs. how much the panels have cut out of them. As you can see for most designs the Post method comes in lighter.

Speaking of those corner posts…
Ta-da! Not very flashy I know, but these posts do everything we need aaaannnd are conveniently designed to be fabricated with only 3 mill cuts and some drilling/tapping.

But the posts by themselves look so… lonely.
Never fear! Another side panel design is here!

As you can see this design is based more on a spiraled pattern and would need some special front/back plates to really round it out but as a first stab at the idea it doesn’t look too bad.

Putting it all together we end up looking something like this. Again, the front and back would probably be replaced with more centralized versions of the spiral but it gives the proper idea at least.

More updates on the way and, as always, input is more than welcomed.

Stay tuned! 3D models to come in the next weeks.

Next up: Legs: This time it’s personal.

Continuing the design, I’m up to the side walls of the case.

The original design for RJ1 had load-bearing side walls (0.125” aluminum or plastic) that ended up not supporting much of anything and being a bit of a weight problem. I had considered making the case just… open (motherboard, etc exposed) but I think that is sort of the difference between the I’m-just-trying-to-graduate-and-I-don’t-care-about-wires-everwhere look and something you’d want in your living room. Now I’m not saying you won’t be able to see all the cool guts of the robot, but I think an exoskeleton will keep it lookin’ classy as well as keep hands/children/cats/raiders from touching your ESD sensitive hardware.

I think the basic idea will be to create a body “cage” and then attach these panels over the sides. This should give the needed rigidity while keeping weight down (the side panels can be made from MUCH thinner material if they aren’t load bearing) While the two side panels will probably end up as mirror images of each other, the front and back will be unique to allow for a camera in the front (that’s right, RJ1 is going to have eyes! Well at least one…) and the IO panel/expansion slots on the back.

Again, I’m sure there will be multiple versions of this part to try to get the art style right and looking more natural (or as “natural” as a six-legged spider PC can look) but for now, here’s version 2.

Today I found out that if I want the legs done on a laser cutter (and let’s face it, if they’re going to look sexy they’re going to need to be done with a laser) the material can only be 0.125” thick. As the current design was for something in the 0.200” range some modifications to the tibia and femur were needed. Now that it’s all said and done, I actually like the new design! See for yourself below.

The only other change is that after learning of the laser cutter’s amazing accuracy, I’ve added in the threading interface on the femur to let it just slip over the servo and start working without having to file our those contours. Yay!

Here are the images and the model. (PDF only works in the latest Acrobat reader and make sure you turn on perspective and switch it to “Illustration” for the best effect)

3D PDF File

Solidworks Files (zip)

So there you have it. A few more tweaks (looking to update the hip bracket) and a quick order from McMaster is all that’s left before I’ll be sending it off to Agent B. for first cutting!

Intrigued by organic designs in hard metal? Like hips? Sponsor one! Each servo is $33.50 so every little bit helps!

Next week: bodybuilding!

With the wealth of information and files out on the internet I usually take it for granted that if I need something it’s just a matter of time and google.

When designing a computer case I find it’s good to know where you need to put your mounting holes. Normally I just lay the motherboard down, pick up a sharpie, and mark each hole through the board. With RJ1 I’m holding off buying the motherboard until the last minute (more bang/buck) and I’m trying to model everything up ahead of time… sooo off to the google to find a micro-ATX motherboard.

No dice.

I did however find this handy specification and from that I’ve been able to put together the generic uATX model. Keep in mind this isn’t any specific board (just what is in the original spec) and I haven’t added any expansion cards, processor, heat sinks etc. The model is based on the maximum dimensions allowed by the spec. Any micro-ATX motherboard should fit within this footprint and use the same connectors. Many boards are actually smaller than the specification (although not by much) so if you need your measurements down to the thousandths of an inch, go ahead and call your manufacturer (And best of luck to you. They’re some of the hardest people to get on the phone.)

There are two versions (and two file formats for each.) The first is just the motherboard showing correct mounting hole position and back I/O panel placement (I/O panels are not regulated so what you see is just for show. Check with your manufacturer)

3D PDF (requires the Adobe reader)

Solidworks 2007 Part

The second is meant to help the design types out there. It includes the “keep out” zones that the motherboard specification sets aside for components. If your design doesn’t intersect this version, you’re A-ok according to intel (who wrote the spec back at the dawn of time.)

3D PDF (requires the Adobe reader)

Solidworks 2007 Part

One last word on designing line to line:

These models are only based on the specification from intel on the micro-ATX form factor. If you design your robot/case mod/nuclear reactor using just these specs you may run into space issues (cooling, wires not fitting etc) because these specs only show what area is designated for components ON the motherboard. Anything you attach to it will cost you extra so plan accordingly.

So enjoy, and if you find these models useful… or cool… or just feel like having a wonderfully restful sleep tonight as your soul enjoys its new clean state… donate to the project! Support the robot! Support the kids!

Have a very happy Seis de Mayo!

One of the many new leg versions is out for your viewing pleasure.

This one is designed to work better with the newly shortened femur.

It’s by no means the last version. I suspect there will be some sort of poll on which one is liked most at the end and we’ll go with that. But that’s in the future…

For today we have this:

More next week. Enjoy your weekend!

An update!

Where have the updates been? (See below.) Why have there been no pictures? (See below.) When will you start building the thing? (You got it… see below.)

Due to a lack of available torque in hobby motors, a general yearning for a more stylized design, some Solidworks simulations, etc etc there will be a NEW design posted in the next couple days.

Not sure of the final outcome but the new design focuses on some key points that the original RJ1 design lacked. Namely:

• New proportions to allow for standard expansion cards and an onboard DVD drive (and maybe even the power supply)
• New servo mounts. Now with more strength and less material!
• Shorter femur dimensions. Solidworks simulations showed our lack of lift would come from the 6 inch femur sections. These have been reduced for greater lift. The robot should be able to crouch down now and even extend itself into a position with two legs raised up in front (pictures of this “attack pose” to follow) We’re talking 2-3x more torque in these legs.
• Lower center of gravity. I didn’t really like the computer module perched atop the legs. The legs will be somewhat to the side now allowing a lower center of gravity and a more “spidery” look. (again, pictures in the next few days)
• Assist springs in the femur to support MORE weight. Seriously, we needed the torque.
• Replaceable bracket design. In case the smaller servos need to be swapped out we should be fine.
• Delrin servo mounts. Slides nicely, easy to work with. Inexpensive. Black matches the servos.
• More stylized, arty, design. The whole thing is taking on a futuristic-robot-uprising feel… Think we should limit the AI?
• Internal superstructure. The outer panels of the computer component will no longer be structural. Increases build time, allows use of 1/16^th inch material. Looks MUCH better.

Pictures to come as the design takes on more shape!

A few design changes happened over the weekend:

• The hip joints are now moved a bit farther under the body using a design with less weight.
• The hip joints can now be made with the same 0.25 and 0.126 inch material as the rest of the body.
• The design was updated to use 6 inexpensive servos for hip rotation dropping the overall cost by $180 but lowering the overall torque available for joint thrust.
• Some components that were made from 0.25″ material were moved to 0.125″ material to save on weight and cost. 0.25″ material now only used in situations where strength or material depth are needed.

Here are a few images of the new design…

RJ-1 in expanded form:

RJ-1 in compact form:

In other news we found a place that will sell us the Hitec HS-805BB at$39.99 but as we need 12 they’ll give us 1 for free which is as good a deal as we’ve found anywhere. Know of a better one? Leave us a comment

Better yet: Want to help us buy a servo and get your name on the final product? Donate to the project! Starting at as little as a dollar and after that the sky’s the limit!

Based around a micro-ATX form factor, 12 burly servos, and 6 standard servos the RJ1 is starting to take shape.

So without further adieu here are a few pictures that will hopefully start to answer the most-asked question: What is this going to look like when it’s done? Keep in mind these are preliminary design images and given other good design ideas (submit some to us!) the overall look and feel may change drastically at any point…

Here she is in the design environment (Solidworks 2007)

Photo-realistic: not really… How about photo-ish

In the interest of being as open as we can: here are the Solidworks files for the project as of this post. Feel free to tinker around with them, scrap them and start fresh etc. Keep in mind that we’re trying to make a design that can be essentially cut out of 0.125″ and 0.250″ sheets of acrylic, aluminum, etc. A design like this will allow us to quickly assemble the final project without hours in front of a mill (that we’re still looking for access to.) If we use parts of your design you’ll end up with your name on the bot, your ideas made into a real piece of techno-art, and a huge bundle of thanks from us here at RoJ.

Have access to a mill, shop, materials, servos, etc? Feel like contributing and getting your name engraved on the final project? Email us at donations at robotsofjoy.com and join the project!

As the title suggests the controller for RJ1  has arrived and my goodness it’s beautiful.

It’s been a while since an update so here we go:

The servo controller is in!

Thanks to a donation from Agent J we now have a LynxMotion SCC-32 V2 Servo Controller Board. Much like our friends over at the Arduino project, this amazing little board runs off of an Atmel processor, is open source, and kicks more butt than a room full of coke-fueled ninjas.

Summing up the tech side of the SCC-32:

• Microcontroller: Atmel ATMEGA168-20PU
• EEPROM: 24LC32P
• Speed: 14.75 MHz
• Serial input: True RS-232 or TTL
• Outputs: 32 (Servo or TTL)
• Inputs: 4 (Static or Latching, Analog or Digital)
• Current requirements: 31mA
• Servo control: Up to 32 servos plug in directly
• Servo type supported: Any 1500uS centered RC servo
• Servo travel range: 180°
• Servo resolution: 1uS, .09°
• Servo speed resolution: 1uS / Second
• Servo motion control: Immediate, Timed, Speed or Synchronized.
• PC board size: 3.0″ x 2.3″
• VS current capacity: 15 amps per side, 30 amps max

And all that for less than 40 bucks!

From the hands-on side:

Setting the system up is a breeze. Logic power: check. Drive Power: check. Ridiculously inexpensive and open source platform for motion control: check.

Fire up the terminal supplied by the LynxMotion guys (or hyperterminal, matlab, monkeys trained in RS-232 etc) and you’re on your way. I started out using the supplied terminal program because it features some sliders, macros, etc that allow you to jump into servo control with little to no knowledge. Truly plug and play: I added 3 Hitec-311 standard RC servos, some plastic pieces I had lying around my desk and a handful of rubber bands and BAM! Robotic arm with 3 degrees of motion. Literally from out of the box to 3 dof robotic arm in 10 minutes.

The command structure is flexible and robust for just about any motion control you want to do. My favorite command so far:

#1 P1500 #2 P1200 #3 P750 T3000

Sends servos 1, 2, and 3 to positions 1500, 1200, and 750 respectively over the period of 3 seconds. All motion starts at the same time, ends at the same time, and is pretty dang smooth. The best thing is that you can essentially make robot keyframes and morph from one to the other with one command. No need to know where it is or what it was doing. If the servos are in motion at the time the command is sent it’ll just go from that point and you’ll have your requested state in three seconds (or however long you asked for)

For those of you with your own hexapod projects it comes pre-loaded with a hexapod walking gate (alternating tripod) to get you started.

All in all I’m really happy with what this incredibly inexpensive and robust controller and I’m happy to say that it will be controlling all of the servo function on RJ1. Offloading servo control onto a daughter board, serial connection, open source, it’s got it all.

If you’re interested in picking up a LynxMotion SCC-32 for your own project go here.

A very short update:

Well it’s really more of a working title but it’s going to do for now. Drum roll please….

RJ-1

Yeah it’s not quite lovable as Carrie, Jackie, or LaBryce but the nice names will be something that come along after the robot begins to take shape. For now it’s stuck with this name as it’s short, descriptive (Robots of Joy Project 1) and makes good file names. I’m sure we’ll have some sort of naming contest as the project matures.

Ok, back to work. The Servo Controller is scheduled to come in the next couple of days so stay tuned as the physical design finishes up and the motor control starts.

One final plug…

We REALLY need help with the next purchasing phase – Servos. As you may or may not know, the small servos (ie the cheap servos) that run in RC cars, planes, etc have quite limited torque soooo this project is actually going to require the next step up. Sadly these servos are nowhere near as inexpensive and we’re going to need 12 of them (ouch!) So we turn to you, our supporters, and ask that if you have a little cash handy you pitch in and help get us these high-torque servos. Our project will walk thanks to your generosity (Plus, you get your name or message LASER ETCHED into the robot, our heartfelt thanks, name on our website, and the knowledge that your contribution is headed straight to the kids via the coolest community project on the web)

Thanks for your help

The Robots of Joy project was conceived in early 2008 as an all-around-everybody-wins mixture consisting of a scoop of the love of technology, a handful of engineering, and substantially more than a pinch of helping out others who could use a boost.

The plan falls into five parts:

Stage One: Design of the actual robot project. This stage is currently COMPLETE down to the Solidworks drawings, component choice, etc. For more on this check out this article.

Stage Two: We acquire the needed parts through donations (physical parts or money to buy parts) ad-based revenue from the website, and good old-fashioned out-of-pocket expenses. To add a bit of incentive each of the donors’ names will be laser etched into the side of the final project and recorded here on the site. (Have a blog or a website? That’ll also get face time here)

Stage Three: The build is on! Machining time has already been donated to the project and some of the operations code is already in the works. Admittedly this is the fun part :) Pictures of the build and how it progresses will go out on the website and in the newsletter. Hopefully we’ll really build some excitement for this stage and get a good rolling start into…

Stage Four! The whole project is sold to a lucky bidder on eBay. That’s right the whole thing will get packed up, shipped off. For this first project expect to see somebody’s computer room get a blast of very awesome. As soon as we find a home for our little creation it’s on to…

The BEST Stage: After out-of-pocket expenses are settled we’ll be giving %90 of the proceeds to the great guys over at the non-profit organization Child’s Play (childsplaycharity.org) who supply over 40 children’s hospitals with gifts, toys, and all manner of great things for children in long-term care. Read some of the letters these guys get and you’ll instantly understand the great service they provide to a lot of kids who really need a pick-me-up.

So where does that extra 10% go? It becomes the seed money for the next project allowing us to continue this cycle. We may change charities from project to project or year to year but the end goal will always be the same: to help fund amazing charities and do it all while developing some great open source projects.

As always the latest updates will be here on the front page of robotsofjoy.com and in our newsletter.