Time to get the printers warmed up!!

In this tutorial I will show you how to assemble the leg parts for non motorized version. It is pretty easy if your prints are correctly printed without warping otherwise, you will have a hard time to join all the parts together.

Beware that some of these parts are really big and exceed the standard 12x12x12 cm.

There is two REALLY big parts included in the Non Motorized legs, here are the sizes:
-ThighHighRightV1: LENGTH16,5 X WIDTH19,6 X HEIGHT12cm
-ThighHighTempV1: LENGTH19,7 X WIDTH12,7 X HEIGHT13cm

Some of these parts require support during 3D printing, so please check the bellow list.

Download STL from the Gallery

Here is the list of parts and the number of prints needed for the legs:

Ankle:

  • 1x AnkBackFoot
  • 1x AnkHolder
  • 1x AnkMidleFoot (add support)
  • 2x AnkToesBolt
  • 1x AnkToesFoot
  • 1x AnkleBase
  • 1x AnkleDown (add support)
  • 1x AnkpartV1
  • 2x FootBoltHolder
  • 1x LeftAnkBackFoot
  • 1x LeftAnkHolder
  • 1x LeftAnkMidleFoot (add support)
  • 1x LeftAnkToesFoot
  • 1x LeftAnkleDown (add support)
  • 1x LeftAnkpart
  • 1x leftAnkleBase

Tibia:

  • 1x TibiaHighLeft
  • 1x TibiaHighRight
  • 1x TibiaLowS1Left
  • 1x TibiaLowS1Right
  • 1x TibiaLowS2Left
  • 1x TibiaLowS2Right

Knee:

  • 2x KneeBolts
  • 2x KneeSmallBolts
  • 1x KneeClampLeft
  • 1x KneeClampRight
  • 1x KneeHighLeft
  • 1x KneeHighRight
  • 1x KneeLowLeft
  • 1x KneeLowRight

Thigh:

  • 1x LegFixerLeft
  • 1x LegFixer
  • 1x LegHolderLeft
  • 1x LegHolderRight
  • 1x ThighBoltBlokerL
  • 1x ThighBoltBlokerR
  • 1x ThighHighBlokerL
  • 1x ThighHighBlokerR
  • 1x ThighHighLeft
  • 1x ThighHighRight
  • 1x ThighHighTempLeft
  • 1x ThighHighTemp
  • 1x ThighLowLeft
  • 1x ThighLowRight
  • 1x ThighMidLeft
  • 1x ThighMidRight
  • 1x ThighSideAccessLeft
  • 1x ThighSideAccessRight

Step1:

The non motorized legs are mainly for show. They allow to have the robot standing up on it’s own legs. The robot will be bolted and fixed to a large 60x60cm plate for to assure it’s stability.

A 10mm rod will run from bottom plate to the top of the legs.

inmoov legs Leg_3 Leg_2 Leg_1 Leg_4

Leg3Leg2

Ankle1

Ankle view (Gael Langevin)

LegAssembly2

Tibia View (Gael Langevin)

 

To be continued in a few days…

Comments 55

    • Hello,
      The only way to avoid warping when printingbig parts in ABS is to have a closed printer which keeps a permanent inside temperature and avoids any outside draft.
      Also printing on glass is up till now the best solution I have been using which keeps the part safely attached to the heated bed.

  1. thank`s Gael, i have a prusa i3, Works superfine, i print in a heated bed with mirror i supose you refer to this when you say print on glass, i´ll print the small pieces and work on an enclosure to my printer, other alternative is usin a infrared lamp but is very expensive in the electricall bill, jejejeje, I give you my congratulations and a very strong hug

  2. hi Gael, i make the same you design to fix it, but i have it with drill jajajaja,, i modify your pece with sketchup the result is great if you like it ill send, in the image you can see i make another supor to the center of the knee to use the center hole in the KneeHighRightV3 and KneeHighLeftV3, what do you think about?, its a dood idea or you have another pupose to this hole?, thak you

  3. Good evening everyone
    thank you Gael for the james, we can never say enough.
    How to hold the ankle in place without sticking AnkleBase to AnkleDown?
    If the mechanism of origin makes it possible to hold them together, is it possible to have the .STL, I would have wanted to keep the articulated ankle. Thanks for your help

    google traduction

    • Hello,
      These parts are too weak to be efficient, therefore I din’t upload them.
      If I would upload them, I am sure some people would request detailed tutorial and more.
      I am actively working on a set of legs with motors, which will be much more efficient than my early prototypes.

  4. Hi Geel,

    This is great! Do you have any recommendations for 3D printers I can use for this? Like what are the minimum printing dimensions my printer should have for this? I read the 12x12x12 cm won’t suffice, but what will?

    Would greatly appreciate it if you could help me out. Thank you.

  5. Anywhere or Anyone with a list of nuts and bolts?
    I need to buy them and its difficult to guesstimate….

    M10 Rod with Nuts is clear but I saw quite a few
    holes with M6 or M8 as well and different lengths.

    Would be great to get an overview as I don’t have M6 at
    hand and my M8 seems to short.

  6. Hello gael
    You installed a char (“diable” in french) behind inmoov to maintain him vertically, I also saw a fixation on this char, is it possible to obtain the stl of this support? Which seems to be fixed to the mid stomach of the robot.
    Thank you very much for all your work
    best regards

  7. Hello Gael,
    My name is Cameron and I am a current student at the Australian Science and Mathematics School. I am currently conducting a research project around what the difficulties are when creating my own Inmoov robotic hand. I am currently in the process of creating all the parts of the hand and would like to ask you a few questions. If you could please pass on an email contact that would be greatly appreciated.
    Kind Regards,
    Cameron Spray

  8. Hi Gael,
    My name is Will and I am from Akron Ohio. I have a quick question? I was wondering if you were eventually going to make the legs be printable on a 12x12x12 standard bed? The reason is that my printer is that size and it wont be able to print the pieces otherwise. Thank you for taking the time to read this and I look forward to your response.

    Very Respectfully,

    Will
    Akron, Ohio, USA

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