I have decided to jump into 3D printing and build a version of the Inmoov robot, here is the printer that I am going to buy, it looks a good spec.
www.dream3d.co.uk/product/ultimaker-2-desktop-3d-printer-2/?gclid=CJHR7aDloMUCFfMZtAodTU0Ang
I (personally) have no CAD knowledge, but I would like to convert the arms to the Bosch drives. They would be much more powerful (torque) than the existing servos, being virtually totally silent (I noticed the servo noise in @Aerius video that there was quite a loud holding buzz). The Bosch units already have a worm driven gearbox built in and also a feedback potentiometer. I think the Bosch units would greatly improve the Inmoov arms if a conversion can be done to allow for these these to be used with the current design.
As you have some Bosch drives, David and Richard R what do you guys think?
Tony
@ Toymaker,
Good idea, I often dreamed of get hold of quiet and powerful servos.
Embed them in joint Inmoov be excellent.
David, I use these 6mm hubs to connect to the Bosch spindle it makes a very strong mechanical connection. I wonder if these could be integrated into the Inmoov shoulder/bicep joints?
www.active-robots.com/6mm-nexus-robot-hub-18007
These Bosch units will also make a great silent powerful pan and tilt for the Inmoov head as it is with the ALTAIR robots - I estimate that the Bosch units are at least three time more powerful that the current high torque servos used in the Inmoov robot.
Ben, I can spare a couple of drives for you, I will send you an email this week to get your delivery address.
Tony
@Tony.... I haven't compared so you may be right. However, remember the HS-805bbs are run through either a worm gear box or jack screw assembly which dramatically increases it's torque over the plain HS-805bb.... My inMoov's shoulder servo (fully extended) can lift 3lbs in addition to the weight of it's arm which is a few pounds in itself... It probably could lift more, but I have not tried... Gael actually has a video of his inMoov lifting a fairly heavy screw gun/drill....
Richard, The thing with the Bosch motors is you can run them up to 20v there is very high torque at this voltage. My systems are 12v but I use a buck convertor to get the 20v for the shoulder motors and it works fine. The HS-805bbs are just 6v and I used them on the original AIMEC robots and there is no comparison with the Bosch units running at 20v.
Tony
Gotcha' Forgot about the voltage limitations of the 805bbs.... I believe you now that the Bosch motors with the higher voltage capabilities would produce more torque than the 6V 805bbs...
Richard, I think that the Bosch drives could really improve the Inmoov robots, they would be almost silent and have much more torque. I hope we (or David) can integrate them into the Inmoov arms and possibly the pan/tilt design.
On the Bosch unit, power one up at 12 to 20v and then try to stop the spindle - take care as the torque is so great that it could rip your fingers! They are near impossible to stop with your fingers. The current draw is amazingly low at only a couple of hundred milliamps on full load, so another huge advantage with these Bosch units are that they do not take huge currents so battery life is maximized.
Tony
I am thinking about using the AIMEC locomotion base and leg section for my Inmoov build as I still have a few in stock. They look a bit like legs while being skid/steer with precision movement thanks to the drive encoders. I may need to print a new center section to build the leg section up a bit when connecting the Inmoov upper body to make it look right.
What do you fellow Inmoov builders think, does it look like this is workable to you with the upper part of the Inmoov?
Tony
I like the idea. I think it would be a good match. There is a gear at the bottom of the current inmoov that will attach to the lower portion once designed. The gear has a hole in the middle that a 43.5 mm outer diameter pole could be used tie the two together. This gear is held in place by 4 8 mm bolts and 4 4mm bolts. You would just need to remove the holder for a pot at the bottom of the gear.