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Map ConnectionsV1Map connection V1 edited by “Peloche”

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Here is a BOM Updated 04/05/2016

  • Of course you need to have a 3d printer.
  • 2x arduino Mega=80 euros ebay.(The default is 1xUno and 1x Mega, but the legs and waist are yet to come )
CSK-Allen-Bolt

Screw Allen countersunk:

  • M3x20MM about 50.
  • M4x20MM about 50
  • M8x100MM about 15
Phillips Flat-Head Wood Screws

Phillips Flat-Head Wood Screws:

  • M3x12MM, about 100 for small servos.
  • M4x20MM, about 50 for big servos.
  • Plus some small screws for the eye mechanism, the jaw machanism and to fix the pistons on the small servos. But I used the screws that were delivered with the servos.

 

Hands and forarms(Left, right):

  • 10x servos HK15298B=180 euros Hobbyking
  • 2x servos MG996r=22 euros ebay for the rotational wrist
  • 0,8mm braided /fishing line. 200LB= 10 euros ebay
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr natural ABS= 70 euros orbi-tech get 4kg if you start printing
  • 10x extension spring 0.51mm diameter, 1cm length(13/64″x13/16″)

Arms and shoulders(Left, right):

  • 8 Hitec HS805BB=240 euros ebay (better get even stronger in torque and faster)
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr black, yellow, natural ABS= 56 euros orbi-tech

Head and torso:

  • 2x Hitec HS805BB HEAD 4 AXIS
  • 1x servos HK15298B JAW MECHANISM
  • 2x Servo DS929hvCorona or similar EYE MECHANISM
  • 1X Camera Hercules HD (dismantled for this purpose)
  • or 1X LifeCam3000 Microsoft
  • 1X kinect xbox 360 (not dismantled or see tutorial below)
  • About 4kg natural ABS
  • 0,8mm braided thread/fishing line 200LB= 5 euros hardware store or ebay
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr natural ABS= 70 euros orbi-tech
  • 3x Battery 6V12AH + charger: 80 euros (The robot requires only one battery to work, but you should have at least 2 or 3 to be able to run a few hours.) Alternatively when running the whole day, I used a eFuel switch Power supply 6V-15V Output 20Amps but it is not really enough for the full robot. So I’m currently using a 6V 60Amps Switching Power Supply. Here is a link for a 6V 50Amps: http://www.ebay.ca/itm/New-6V-Power-Supply-300W-6V-50A-Switching-Power-Supply-WITH-CE-/182703380182?hash=item2a89f856d6:g:dJ4AAOxyXHpSTJZ-
  • 2x Mini PC speaker 8Ohm 10W
  • 1xPIR sensor retriggered
  • Cables and wires

Speaker_size1

Stomach:

  • High stomach: 2x Hitec HS805BB
  • Mid stomach: 2x Hitec HS805BB or HK15338

Ribbon cable length:

  • Nervo board to neck——————————— ribbon length10cm
  • Nervo board to head (Eyes/Jaw)—————- ribbon length55cm
  • Nervo board to shoulder 3xribbon————– ribbon length35cm
  • Shoulder to Arm————————————– ribbon length 30cm
  • Shoulder to hand————————————- ribbon length30cm
  • shoulder to fingersensors————————- ribbon length30cm
  • Nervo board to stomach————————— ribbon length30cm

This works well:

I’m now using a Lenovo Touchpad 8″ tablet with a 8port Hub powered by a Powerbank 10000mAh 5V. The Tablet runs either under Windows8 or 10, and can be configured to run with Linux. It is a true mini PC. You will need a OTG+Charging special cable for this Lenovo Tablet. I had a hard time to find it, which is very strange. Carefull other similar Tablet brands cable will not work.

I was expecting to be able to use the case for travelling but unfortunately there is a serious issue with the size. Although the seller pretends to sale cases that fit 8″ tablet it is truly impossible to fit the tablet.

So you are advised about the issue…

Beside that the keyboard works fine, with sometimes a loss of connection but it automatically reconnects anyway.

The PowerBank+8 port HUB USB3.0 powers through USB:

  • the tablet Lenovo
  • the Arduinos
  • the cameras
  • the sound amplifier
  • Kinect

I purchased a 8 port HUB USB3.0 to have extra ports and it works fine with the OTG cable and the Lenovo Tablet. If you do not use the powerbank, it’s important for to power the hub to have a supply that can deliver at least 5v4Amps, because we hook many USB devices that require each 500mAh.

Substitute possible tablets but not tested:

  • Venue 8 Pro 5000 (5855) (Should fit according to the specs size, the OTG cable(Charge+Data transfer) is not possible to find according to some users)
  • Insignia™ – 8″ – Tablet – 32GB (Some builders reported this tablet to be junk)
  • KOCASO 8 Inch Windows 10 HD Tablet PC Computer (Too small, will need a printed adapter)
  • Chuwi Hi8 Pro 8″IPS Windows10 (Should fit according to the specs size)
  • NUVISION, Full HD 1920X1200 IPS Signature Edition tablet. 8″(Too small, will need a printed adapter)

Kinect 360 battery powered with 10 AA rechargeable batteries of 1,2v 2500mAh.

image

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After many tests with the OdroidU3 and the Raspi2, I came to the conclusion that the Arm processor were too slow to obtain a correct FPS value from the cameras, which lead me to go for another option.

This is abandoned:

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Servos in order of my preferences for the hand:

  1. HK15298B (Strong torque 20kg , no noise, never burned, 90degree)
  2. HK15298 (Strong Torque 15kg, noisy, never burned, 90degree)
  3. MG996R (Low Torque 10kg, a bit noisy, burn sometimes, 180degree)
  4. MG946R (Middle Torque 12kg, a bit noisy, burn sometimes,180degree)
  5. MG995 (Low Torque 10kg, a bit noisy, burn very easily, 180degree)

These are servos I have tried. There is other servos that can fit the required size specifications. All these servos need to be set with a Min, Max within the software because their rotation in degree varies. Each finger of the InMoov hand has a different extension, retraction length.

 

Alternative Servos that maybe can fit:

For the hand:

  • TGY-5521MDHV (24kg torque, should fit)
  • JX PDI-6221MG(20-36kg torque, fit, only 60° of rotation??)
  • RS-550MGC-HV (11.2kg torque, should fit)
  • HS-311 (3.5kg torque, should fit)
  • XQ-S4020D (21.5kg torque, should fit)

For bicep, shoulder and torso:

  • Savöx SV-0235MG (35kg torque, fit)
  • TS-80 Tower Hobbies giant scale(24kg torque, identical to HS805BB)
  • CYS model S8218 (40kg torque, does not fit, needs adjustment, issue software with attach/detach)
  • HK15338 (25kg torque, fit perfectly, needs resistors, reversed polarity)
  • HS5805MG(27,5kg torque, should fit)
  • PDI-HV2060MG jx (60kg torque, fit good, reversed polarity)
  • FS6535M (33 kg torque, fit good)

For the eyes:

  • Towerpro SG91
  • TowerPro SG92R

For stomach:

  • Savöx SV-0235MG (35kg torque, do not fit needs modifications)
  • TS-80 Tower Hobbies giant scale(24kg torque, identical to HS805BB)
  • CYS model S8218 (40kg torque, does not fit, needs adjustment, issue software with attach/detach)
  • HK15338 (25kg torque, fit perfectly, needs resistors, reversed polarity)
  • HS5805MG(27,5kg torque, should fit)
  • PDI-HV2060MG jx (60kg torque, should fit)