Mechanical Walker Prototype

thingiverse

A mechanical TrotBot walker. Video on youtube - https://youtu.be/XorL3H8H0_k Original walking mechanism based on Ben & Wade Vagle's TrotBot. See https://www.diywalkers.com for more information on this, and other types of walking machines. They also have a supersized version! Print Settings Printer Brand: Robo 3D Printer: R1 ABS + PLA Model Rafts: No Supports: Yes Resolution: 0.2mm Infill: Varies Notes: Most parts printed at circa 30% infil. Some supports required at ends of arms. All printed in PLA. Crankshaft parts are printed at about 80% infill to give strength. Also the crankshaft pieces need to be printed in the correct orientation to maximise against torsion. Post-Printing Assembly Quite a bit of assembly required. Some cleaning of parts to ensure that they move smoothly. In these types of walkers friction is your enemy, make sure parts move easily. How I Designed This Software used Original linkage design was from www.diywalkers.com. After printing a sample leg and mounting it on a dummy frame I made some tweaks to the lengths. Linkage simulator - www.linkagesimulator.com - modelling walking gait. File attached Autodesk Fusion360 - design and assembly testing. It also generates the CNC mill tool path. Simplified 3D - slicer for 3d printer Octoprint - 3d Print server software Parts Main Assembly Motors, gears, belts and beams are from MakeBlock Plywood chassis panels are CNC cut using a Carvey from Inventables 3d printed legs, crankshaft and brackets are printed using a Rob3D printer Control system: It is controlled via bluetooth from any phone. It uses Adafruit Bluefruit LE Connect app. The arduino code on the walker is modified to respond to the directional buttons and keys 1&2 to rotate clockwise / anit-clockwise. There is a great example project using all these pieces https://learn.adafruit.com/bluefruit-feather-robot/overview. Adafruit Feather 32u4 Bluefruit LE Adafruit DC Motor + Stepper FeatherWing Add-on For All Feather Boards Lithium Ion Polymer Battery - 3.7v Motors 9V 30RPM Motors powered by 5V USB battery pack voltage boosted to 9V (motor rating) using Pololu 9V Step-Up Voltage Regulator U3V50F9 Other Hardware M4 bolts, nylon washers and nyloc nuts M10 plastic washers (spacers on the crankshaft) 4 mm brass tube - top leg pivot hinges 1/4" square brass tube - crankshaft end supports