Assembly of the neck and jaw

All right I presume you’ve got the torso assembled or almost. The assembly of the neck shouldn’t be a too difficult step. None of the servo used need to be transformed, they can be set as is. That’s pretty cool.

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

  • 1x JawHinge
  • 1x JawHinge
  • 1x JawPiston
  • 1x JawSupport
  • 1x Jaw
  • 1x LowBack
  • 1x FaceHolder
  • 1x GearHolder
  • 1x MainGear
  • 1x NeckBolts
  • 1x NeckHinge
  • 1x Neck
  • 1x Ring
  • 1x ServoGear
  • 1x SkullServoFix
  • 1x ThroatHolder
  • 1x ThroatHole
  • 1x ThroatPistonBase
  • 1x ThroatPiston
Glue or screw “MainGear” to “NeckHinge”
Use “GearHolder” and set “ServoGear” through it. Screw the actuator wheel sold with  your HS-805BB servo to “ServoGear”.
Use your Arduino board and set your HS-805BB servo to 90°.
Puch it in the turntable.
This a bit tricky but can be achieved using a magnet on your screwdriver. Using the screw delivered with the servo, you need to screw the turntable to the servo inside “ServoGear”. Keep your servo at 90°.
Mount this assembly to the assembly “MainGear” and “NeckHinge”using some grease to ease the rotation. “GearHolder” should be aligned with “NeckHinge” and your servo should be still at 90°.
Fix the “LowBackRight” and “LowBackLeft” or “Temporary” to “GearHolder”.This will be the back of the skull.
Screw “Ring” to “MainGear”. Try to avoid slack between parts.
Use your favoriet pliers to mount “FaceHolder”.
You can mount both of them.
Now lets build the jaw. Take “JawPiston” and turn it inside “JawHinge” until you get 1cm offset between them.
Mount screw this on the turntable of your HK15298 or similar servo. Set your servo at 0° with the arduino board. Keeping the 1cm offset, “JawHinge” should be mounted at a 90° angle compared to the servo.
Mount screw “SkullServoFix” over the HS-805BB servo.
Put all 4 screws. Don’t mind the wires on my pictures they come from cameras.
Glue with acetonethe two “JawHolders” on both sides of whole assembly. It comes/fit on the “FaceHolders”
Now take your HK15298 assembly and slide it through.
Put all 4 screws to fix your HK15298 servo.
Remove the pre-support from “Jaw”. My “Jaw” shown on this picture is only a half part. It was a previous test print I did. Your “Jaw” is one piece print.
Screw “Jawsupport” to “Jaw”. Make sure the flat surfaces of the “Jawsupport” are on the inside.
Fix in “ThroatHole”. Mine looks different than yours. Sorry for this picture but “ThroatPiston” and “ThroatPistonBase” shouldn’t be already mounted, it comes in the next steps.
Screw “Neck” to “ThroatHole”.
Fix “NeckHinge” to “Neck” with a 8mm bolt (or print one from the hand)
Assuming you have already fixed your HS-805BB servo in the Torso assembly. Set your servo at 90° with arduino board. Turn “ThroatPiston” and “ThroatPistonBase” in a matter to get “NeckHinge” straight flat.
Screw “ThroatPiston” to its turntable keeping your servo at 90°.
Fix “ThroatPistonBase” to “NeckHinge” with a 8mm bolt (or print one from the hand)
Now the whole head should be able to go up and down if the servo turns from 0 to 180. Make a test with the arduino. Run this test carefully.
Leaving the head up, Slide the jaw assembly in to the head.
Bring the “JawSupports” through and mount them to the “JawHinges” and “JawHolders”
Using washers, set screws in.
Run a test on the jaw mechanism with Arduino.
ATTENTION: the jaw servo can only turn from 0 to 20° (I think) if more it might break something. Please Run your own test to check. (At the moment I write this I don’t remember exactly to how much mine could go. When I will plug it again I will rectify this)
You can run the cables of your servos in the “Neck”.
Now you should be set to move the head and the jaw through your Arduino.
Check InMoov service Myrobotlab for to get this added to your robot.

Comments 15

  1. Profile photo of dilip kumar

    hi Inmoov family,

    hope all doing good,

    i am raedy with my separate parts
    head and neck
    both the arms with hands
    top stomach with toros
    now i need to test them separately, how can i get these separate minmal codes for testing.

    please kindly help on this,

    Thanks

    • Profile photo of Gael Langevin

      Hello Pedro, As you may know, I do not integrate upgrades from other builders into my original design (beside the eyes mecanism). So no tutorial in the near future about that.
      Although, I have been thinking for that matter, to create a second tree line on the website which would be dedicated to upgrades voted by the community.
      That is on my to do list!
      :)

  2. Profile photo of pedro

    I didnt know, i was just asking since i saw that on your second inmoov u are using it! It is pretty awsome and would be nice to be integrated as a tutorial imo!!

    Once again thank you so much for this fabulous work! Your idea of making a votation seems super cool!!

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