METHOD

This is the general method for creating a ROBOPuppet for a target device. This tutorial uses FreeCAD, TinkerCAD, Makerware Desktop, a Makerbot Replicator 2X printer, Arduino IDE, and Klampt't in order to modify, print and use the puppet. The following instructions were created while building the puppet for a TX90L robotic arm. This puppet is a 30% scale model of the target robot.

The construction method can be generalized as follows:

1. Download the CAD model for the target robot
2. inspect each joint surface to be articulated - use these observations to determine the final size of the puppet
3. Create a watertight mesh from the CAD model, scaled to the predetermined size.
4. Using pocket geometries, modify the robot's mesh to allow the installation of the joint encoder assemblies as well as access for any additional hardware.
5. Print the puppet
6. Clean the printed model and trim any overhand, rafts or support structures.
7. Install joint controller assemblies.
8. Assemble puppet
9. Install friction control bolts
10. Run wiring and hook everything up
11. Test encoders and assembly.

Specifics

Vocabulary

Component Parts and Tools

Required 3D Models

Construction

Code