TheRobotStudio presents: Humanoid Open Robot - Hope
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- Опубліковано 4 тра 2023
- TheRobotStudio presents the Humanoid Open Robot - Hope - an #open #alternative to the commercial #humanoid #robots being developed by tech giants like #Tesla #Optimus
If you’ve always dreamt of having your own humanoid robot that dream is within reach and uses only 20k USD of components.
We are now looking for participants in the production of the first batch of DIY robots to feature 19 DOF hands, series elastic actuator driven arms and an articulated body that can stand, balance and move at over 25 km/h!
Want to see if you've got what it takes?
The V1 #DexHand is freely published and available for download at github.com/TheRobotStudio/Dex....
The parts can be printed on any extrusion printer and the hand uses less than 300 USD of components.
The parasolid CAD model can also be viewed and downloaded for free on the cloud platform Onshape: cad.onshape.com/documents/16c...
Designed and tested for high speed printing using a 0.6mm diameter nozzle and 0.4mm layer thickness except for the tendon spools and split parts of the palm sections which benefit from printing at 0.3mm layer thickness or better.
Tested in PLA, PETG and CF nylon. ABS is not recommended for the large pieces due to warping.
To finish 3d prints to a high standard requires a fine sandpaper or emery board.
Diamond coated steel nail files are a handy tool: amzn.to/3VBBsOX
Though my favourite diamond file is actually intended for maintaining whetstones, just a nice big expanse of diamond dust to use :-)
- Amazon US: amzn.to/3eN3bvo
Additional components required are listed below.
Please consider buying via the Amazon links where available to help fund the robot development.
The biggest cost item are the 16 slim micro-servos that drive the fingers and thumb.
In the US the discount code ROBOTSERVOS will take off 10% from the official Emax webstore: emaxmodel.com
There are four variants at this size with plastic or metal gears and using either digital or analog control technology.
ES3301 (approx $6.6)
ES3302 (approx $9.2)
ES3351 (approx $8.5)
ES3352 (approx $12)
2 standard micro servos are needed for wrist flexion and extension.
Feetech SCS2332 - feetechrc.com/product-name_55... are recommended.
These are serial bus driven servos over allowing a greater range of controlled rotation.
They cost around 35 bucks each plus delivery.
If you prefer to use a standard PWM servo for simplicity they can be substituted by any servo that fits inside the envelope 23.2*12.1*28.5mm.
The trade off is the reduction of the powered range of motion of the wrist to about half.
1 standard servo needed for axial wrist rotation (optional)
Feetech SCS15 - feetechrc.com/6v-15kg-digital... or any servo that fits inside the envelope 40*20*40.5mm.
Reduces powered range of motion to about half and the loss of a continuous rotation option.
The rest of the components are relatively inexpensive:
2mm diameter steel pins - alternatively cut lengths from a wire coat hanger or in Europe order direct from www.visseriefixations.fr/goup...
Otherwise kits are available on Amazon US: amzn.to/3VYrnfh
M2 screw and washer kits, or also in Europe from www.visseriefixations.fr
Amazon US: amzn.to/3sf4NkE
M2 brass threaded inserts M2 * 4mm long * 3.5mm
Note that the type required has a plain section between the knurled ends to allow attachment of the tendon in the fingertip.
Amazon US: amzn.to/3yYl1lY
Kite or fishing line for finger tendons - Sufix 832 is the best I know of for longevity, the 80lbs breaking strength is stiff enough to thread easily and most readily available on
Amazon US: amzn.to/3DgjNoF
Slightly thicker 0.8mm kiteline for the finger ligaments and wrist tendons.
Amazon US: amzn.to/3GMKQJL
Ball Bearings 6*10*3 - Need 50 for a hand, packs of 10 available which are enough for the sample finger.
Amazon US: amzn.to/3Dj7cBn
Ball Bearings 2*6*3 or 2*6*2.5 - Need 6 for the wrist
Amazon US: amzn.to/3yYlTHg
Ball Bearings 15*21*4 - Need 4 for the wrist
Amazon US: amzn.to/3TsMSTO
Ball Bearings 3*8*4 - Need 6 for the wrist
Amazon US: amzn.to/3VyE28O
M3 * 70mm caphead bolt (grade 12.9 ideally)
Need 2 (1 is cut down to 60mm)
Amazon US: amzn.to/3HM0Rjx
McMaster US: www.mcmaster.com/product/9129...
Follow @therobotstudio
Get involved at patreon.com/therobotstudio - Наука та технологія
MANY MANY MANY THANKS FOR SHOWING ME WHY I SHOULD GET MYSELF ANOTHER 3D PRINTER...
i gave mine away 2 years ago hahaha again many many thanks !!!
I hear very good things about the Bambu printer, on a technical front at least.
My preferred material by a long way now is carbon reinforced nylon which I print on an ancient UPBox. Gives amazing mechanical properties and supports remove like a dream.
For nylon it’s very important to dry the filament very thoroughly - a week at 65 C and 13%RH.
Use an all metal hot end - no ptfe - to print at 310C. Should give a shiny finish and no stringing, test by printing two columns a few cms apart, they should be perfectly clean edged. As a strength test a column 8mm square by 8cm tall is almost unbreakable by hand. I certainly can’t break them and I’ve only ever met two people that could - it’s like printing in aluminium 😁
On the Bambu my colleague at IoT design shop prefers cf PETG so YMMV!
I am a fan, I have seen all your videos and I am eager to try this build. Thanks for parts links
Great! A few are starting to be made now so I’ll be putting out more videos as questions arise 😁
Did you see the discount code for the servos in the video description?
Yes I did and thanks again for making this open source for hobbyist
Great!
My daughter(10Months old) has shortened arms and legs. I thought of building her an exoskeleton since her arms fit perfectly into an upper arm. Your hands work wonderfully and could take over the controls. Now I see it's already done 😅👋. But I still have a few years 😉first I have to build a few other things for her. But the search for know-how begins now 😁😎❤
Great that you are thinking this way.
Take a look at Ambionics and consider getting in touch with Ben: ua-cam.com/video/k53lyZp4Eek/v-deo.htmlsi=Ro5jMsGy9T-dK9FZ
This man is building his waifu! LET'S GO!!!!!!!!!!
Maybe one day people will have robo-waifu’s for sure.
As a robot pls do not ever elaborate
Ok!
Would you be interested in recording a video on how to build this arm step by step? or at least BOM list?
Do u think its possible to build a low cost version with less than 1000$?
That’s the problem. It relies on top of the range maxon motors which puts the price nearer to 5k. So far I’ve been unable to find an alternative to produce a 1k arm.
Going the other way I did recently design this one for Hugging Face which can be made for $100: ua-cam.com/video/QkIgxTCq3MY/v-deo.htmlsi=XbdBpF7AbPcbPalJ
Probably too expensive for the vast majority of builders.
Dude, I 'm in a similar project and I must say... That's awesome. I really love your work! Keep doing! 💪💪💪
Thanks! Would love to see what you're making - have you posted any videos?
@@therobotstudio nah....I didn't... But, I'm making the head and neck for now. I installed in the right eye a phone camera too.
Phone cameras are amazing bits of kit!
Very nice, I really need to get into 3D printing
For maximum satisfaction it should part of a journey into 3d design and making. Robotics is just one of the many areas to explore!
Look super amazing, keep it up. Also do you use inverse kinematics if so can you tell me how you learned it,thx❤
Thanks! it's starting to take on a life of it's own, which is exactly the aim of an open deployment :-)
I've never got deep into IK as it is very hard to apply to tendon and SEA systems. You can go a complex mathematical way with lots of matrix calculations or you can make a perfect usable simplification from basic geometry. James Bruton gives a nice breakdown of how he did for the very excellent open dog project: ua-cam.com/video/eKZIJwJBjEs/v-deo.html
If you're using ROS the way we did it for tendon systems was to fool a Kinect into thinking the robot was a person and grabbing bags of internal motor positions and the corresponding external joint rotations from the skeleton tracker.
Use any fast search algorthim to play that in reverse and voila approximate IK.
Even with only 20 positions it's very convincing with the added advantage that the robot will only go the positions used in training allowig easy hand tuning of how it behaves.
О боже чувак,это так КРУТО.надеюсь я тоже когда-нибудь так смогу)
Thanks! That is very much the aim and to help I have already published two hands that you can try to build yourself, check out robotnanohand.com and DexHand.org
What a beauty.
Thank you!
Well done.
Thank you 🙏
Theres no way that this hasnt already been done and perfected long ago
Would love to see it if you know of one!
Hi l am currently trying to build this hand, l had couple issues with the assambly , is there any possible ways to talk with you maybe on discord and ask couple questions?
Great to hear! Please post any questions in the comments or post short videos of your build to illustrate any points.