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I have decided to start my InMoov project. I think I will call him Spock out of respect to Leonard Nimoy who passed away on the day that I started this project.
I am editing this post so as not to confuse people with the current configuration. I continue to update this post with the latest photos. If you are reading this for the first time, don't be confused. There have been a lot of changes to the InMoov over the past couple of years including starting over.
https://synthiam.com/Community/Questions/7398&page=21 Post 203 starts the rebuild of the InMoov.
I have decided to use an onboard computer. I chose the Latte Panda due to it having an onboard arduino Leonardo and also because it uses little power.
I used 2 EZ-B controllers connected via the camera port to Adafruit FTDI friend boards. This allows the Latte Panda to have a non-wifi dependent connection to the EZ-B's. I use a powered USB hub connected to the USB3 port on the Latte Panda to attach other items.
The Omron HVC-P is used to identify people, emotions, human bodies, hands, age and gender. It is attached to the Latte Panda via an FTDI friend which is then connected to the powered USB hub. It is mounted in the chest of the InMoov. I also use a 3 element microphone which is a MXL AC-404 microphone. It is disassembled and the board and microphone elements are mounted in the chest of the InMoov. This mic board is connected to the Latte Panda via a usb cable which is attached to the powered USB hub. There is a USB camera in the eye of the InMoov which is connected to the Latte Panda via the powered USB hub.
I chose to use the Flexy hand with the InMoov. The design is far more rugged than the original hand and works very well. There are 4 EZ-Robot Micro Servos in the palm of each hand which controls the main fingers. The thumb is controlled by an EZ-Robot HD servo. The wrist waves and uses an EZ-Robot HD servo to do this motion. I use the standard Rotational wrist.
I have castle BEC's for power in the following locations set to the following voltages. Forearm's - 6.2 V - Controls fingers, wrist and elbows Custom power distribution board (2) set to 6.2 V controlling head, neck and Shoulder servos. EZ-B's - set to 6.1 V - it is mounted in the controller mounting plate and connects to the EZ-B fused power boards from a power base. Latte Panda - Set to 5.1 V and is mounted to the EZ-B controller mounting plate. Waist - set to 6.2 V and is mounted in the lower right side of the back. This provides power to the lean and pivot waist motors..
There are some custom power and signal distribution boards. These are in the forearms, lower back and in the upper back. The upper back or main board connects to these distribution points via USB cables to provide signal to the other boards for servos. The main board also has servo connector pins that are for the neck, head and shoulders. This allows the power to be distributed between multiple BEC's and also allows the servo signal cables to be shorter and more protected via the USB cables.
For power I use a LiFePo4 battery that is rated at 30 amps. It has the balanced charging circuit built into the battery and also has a low voltage shutoff built into the battery. This protects the battery and allows the battery to be charged with standard car chargers.
I put switches on the back on the InMoov which are rated at 20 amps at 12 volts. These are rocker switches that allow the user to pretty much slap the switch to turn it off. There are two of these switches. The servos for the elbows and fingers are on one switch. The latte panda, neck, shoulders, EZ-B's, waist motors and some lighting is on the other switch.
I also added a fuse block. This allows 20 amp fuses to be put in line to help protect things. The switches above drive the fuses for each of of the motors listed in that section.
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I'm 96.10% complete on printing in 27 days. I should have everything printed by the end of this long weekend.
Last night I was able to build the following minus the electronics and wiring involved... Lower Stomach Mid Stomach Top Stomach (did add the pot that goes in the middle of the stomach and haven't put the circle on yet) Torso Some of the chest Back Some of the Biceps
I figure after I complete the chest, I will start sanding, filling and painting the chest and back before I start adding in any of the electronics other than the pot that is inside the top stomach section. I have already put that in and have a wire leading out that can be plugged into from the servos down there.
After I get the back on the torso (hopefully today) I will measure for space inside the back area to determine how much room I will have after the latte panda and two EZ-B-s are added. It looks like the back cover is pretty deep so it should be no issue to also build the distribution board and add it also.
I am using a different neck mechanism so that opens up the channel that is inside the body that normally houses the neck servo. I might try to mount the EZ-B's inside that channel but I don't know yet. Will just have to check spacing and see if I would have room to reach everything to plug in things. With the distribution board that I designed, it might be possible, but I might rethink how it is laid out if I do this. IDK at this point.
The opening in the back of the InMoov where the tablet would go is huge. It should allow me to mount the back covers and still reach everything without much of an issue.
I went back and edited my post about how much filament it has taken. There was a miscalculation in my spreadsheet. It looks like it will take a little over 8 KG for me to print all but the head (with some different parts for the neck and hands).
Anyway, here is the latest progress spreadsheet...
PrintStatusInmoov.pdf
Sounds like it is coming along well. Looking forward to some photos soon. May a teaser photo or video on Technology Today ? Will the show be on tomorrow night?
The plan is yes. The only day that it will not be on will be June 23rd and July 28th. I will be relaxing at a resort for my anniversary on the 23rd and taking the family on vacation on the 28th of July. I should be available for all other shows pending something unforeseen. Photos, eh, there are a lot of photos of InMoov's
. I will put some out after this weekend I think. There isn't anything really cool to see about him right now. He will be the topic of shows coming up though.
Hi, sounds like you are really cracking along on the printing. SInce you mentioned the back and chest here are a few links yo may find useful.
Here is a back cover I made to cover the tablet hole
groups.google.com/forum/#!searchin/inmoov/perry|sort:relevance/inmoov/fXGF4m11lmk/ADBDlnZuAgAJ
There is a link in there to the Thingiverse files
Also, here is a tutorial I did on filling and sanding the chest.
groups.google.com/forum/#!searchin/inmoov/perry$20tutorial%7Csort:relevance/inmoov/2DHzNFWL5Lw/jExKuVQDCQAJ
Good luck!
LOL, yep, I had already found all of these
Thanks for the info though. You have been on my radar for a while
As it goes when you print something like an InMoov without building as you go along, I discovered a couple of missing parts and a couple that I wasn't really happy with the print. It looks like I will be fixing that down 3D printer today so that the remaining 11 parts to print take less time. The parts are in for the printers so I may have to take this afternoon off from printing and just do the repairs/upgrades that I wanted to do anyway. Finger will be crossed that this doesn't have a negative impact on printing. So close and yet so far away
I also looked to see if the EZ-B will fit inside of the throat. No dice. There isn't enough room to make that happen. Still looking at space so that I can decide what the size of the circuit board that I will have built can be.
I am also seriously considering moving the battery to the base and then using the room where the battery goes for the EZ-B's and the Latta Panda. This would allow me to build the circuit board to run across the shoulders and then down like a T which would allow the servo plugins for the neck, head and shoulders to then plug directly into the distribution board. From there, usb cables could then run down to the arms, hands, waist along with power running to these areas. I think it would reduce more wires by doing this.
Anyway, just jotting down some thoughts.