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

Before printing all the parts you should print the CALIBRATOR, to check if your parts will fit together. If you have a very hard time putting those parts together, adjusting the horizontal expansion setting of your slicer software can solve that, this setting can vary depending of your slicer and printer but users report to set it at -0.15 is a great place to start.

An infill of 30%, wall thickness 2.5mm, best with no raft, no support(unless specified), use a brim to avoid warping.

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

 

To be continued in a few days…

Comments 103

    • Gael Langevin

      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.

  2. Ivan FdC

    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

  8. Rémy Pieton

    Bonsoir, je commence mon robot par les jambes. Il faut quelle taille en tige fileté, j’ai vu 10mm de diamètres mais sur combien ? Que je voit ce qu’il me reste a d’atelier et aussi les visserie a prévoir aussi meeci d’avance

  11. Ivan FdC

    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

  17. christophe mancel

    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

    • Gael Langevin

      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.

  20. Jsh

    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.

  21. Stefan

    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.

  23. francis

    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

  26. Cameron Spray

    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

  27. Will Schneider

    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

  28. AndreasTr

    Hi Gael,
    I assembled the non-motorized legs this weekend, but I could not identify the function of the parts ThighSideAccessXXXXV1?
    I know where they are supposed to go, but is it only decoration on ThighHighTempXX or are they supposed to strongen the leg structure? Did you use _very_ long screws to reach into the TStoLowXXX parts?
    Thanks for your advice!
    –Andreas.

    • Gael Langevin

      Hello,
      Yes those parts help to thickned visually the thighs. Pure decoration…
      For the TStoLowXXX parts, I personaly only glued them with acetone.
      The “long” screws are meant for those builders who want to be sure the parts won’t seperate.

  29. Peloche

    Hi Gael,
    I bought a Creality CR-10SPro to print legs, i’m printing with PETG and up to now parts are very nice, congrats Gael for your excellent work ;-))
    But how to attach legs to the body, i’ve checked your photos but i couldn’t find the “solution”.
    Thanks for your help,
    Peloche

    • Gael Langevin

      Bonsoir,
      Il y a deux possibilités.
      1- Vous utilisez un diable, auquel cas la tige fileté traverse celui-ci ou bien est vissée directement au diable grâce à un taraudage.
      2- Vous n’utilisez pas de diable, dans ce cas la tige fileté se termine sous le pieds avec un écrou afin de maintenir tout les éléments de la jambe en “sandwich” compressé.

  36. FrankChalabi

    Bonjour TLM

    J’ai perdu beaucoup de temps pour ajuster les pistons latéraux et celui du milieu, mais rien à faire . C’est trop serré même si j’ai enlevé 3% dans les axes X et Y . Ma question: Est-ce qu’il y-a quelqu’un parmi les makers qui ont pu résoudre ce problème en produisant des pistons qui s’enclenchent facilement dans les tubes du cou. Merci beaucoup

    • Gael Langevin

      Bonjour,
      Normalement, les pièces rentrent l’une dans l’autre mais elles sont prévues pour être très ajustées afin d’éviter du jeu dans le temps.
      Votre calibrage doit être un peu en excès, soit en extérieur, soit en intérieur, voir même les deux.
      Gardez la pièce extérieur (NeckPistonFrontV1) en référence, et réimprimez la pièce (NeckPistonBaseFrontV1) qui doit s’encastrer dedans en réduisant le X et Y de 3 à 5%. La plupart des gens qui ont rencontré ce problème de calibration, s’en sortent de cette manière.

  37. FrankChalabi

    I wasted a lot of time adjusting the side and middle pistons, but nothing to do. It’s too tight even if I removed 3% in the X and Y axes. My question: Is there anyone among the makers who have been able to solve this problem by producing pistons that snap easily into the neck tubes. thank you so much

    • Cuca

      Hello, I heat with a hot air stripper from the piston parts very little so that I can move inside and I am moving it until it cools down.

      Hola, yo caliento con un decapador de aire caliente del las os partes del pistón muy poco lo justo para que puedo moverse dentro y estoy moviendo lo hasta que se enfría.

  38. Cuca

    Hello, I heat with a hot air stripper from the piston parts very little so that I can move inside and I am moving it until it cools down.

    Hola, yo caliento con un decapador de aire caliente del las os partes del pistón muy poco lo justo para que puedo moverse dentro y estoy moviendo lo hasta que se enfría.

  42. Tony Shao

    Hi Gael,

    I’m a machine learning expert from Australia. I studied physics. I came across your project and I really want to contribute mainly because your platform gives me a chance to advance some of my own business robotics goals. First thing I was going to do is to create a replica of this robot in a physics engine virtual space so I can evolve the neural net over many times quickly, giving the robot basic walking and balancing motor functions. But to do this I was wondering if you’ve finalised the design of the legs? If not, I can implement my own and share it with you? We will need sensors on the feet for the machine learning to get feed back. Happy to collaborate more closely other than on forum if you wish.

  43. Jim Kelly

    This is the lower left tibia pieces. I D/L’ed them from the website and when I look at them in Cura or Meshmixer they look perfect but as you can see the top portion looks like a separate piece added on (and misaligned.) The side edges are not a straight edge and leave huge gaps when joined together. The base fits perfect when placed on the upper tibia piece. Is this a bad STL file? Does someone have a different set of files?
    https://photos.app.goo.gl/Q4YZyALhzHgssSW99

    • Gael Langevin

      Hello,
      You don’t need 4x FootBoltHolder, only 2 are required. If you set 4 of them, you might discover that the holes aren’t aligned to pass through the threaded rod.
      I personally have only 2 mounted under the foot and none by the ankle.

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