Hello,
I added my latest j3o file to the site, but unfortunately it doesn’t display.
Here is the link:
http://www.inmoov.fr/wp-content/uploads/stl/InMoov%20Goodies/VinMoov4.j3o

Hi Gael
Thanks for your reply. I know about the redrilling but the part has also deep holes for the nuts which will require a lot of drilling?

And how to post pictures?

Hi Gael
I have to admit that I do not run my robot any more with MRL. It gave me too many problems with Arduino connections, it takes ages to start it up, it is overloaded with stuff I do not need. So I wrote my own servo task in python to control Marvins joints and have other python tasks to control the cart, read Kinect depth and cam images and…[Read more]

Do you have other imaging devices connected or only the Intel RealSense?
Maybe OpenNI detects another imaging source.
We could try to add manually the drivers in C:myrobotlabmyrobotlab.1.1.173librariesnativeOpenNI2Drivers

I did that for my Orbbec Astra, it worked partially.The depth image is working but the skeleton wouldn’t get activated…[Read more]

Okay, Thanks for the tests and have a good time as well.

Thought about the location too. I need to see the path my cart is moving on and first thought of mounting the cam on my cart. It would look nicer instead of the head location but the flexibility of the head makes is much more usable. From the picture you can see that the device is partially covered by the hat and it can be removed if needed. I…[Read more]

Thanks Gael, it looks like you never get tired to comment on user actions.
Feedback hasn’t been great so far (or rather is non-existent) but your note will motivate me to continue.

Thanks Rick!
All input is welcome 🙂

I hope soon to add some more info.

Cool,,, Nice pin stripe across his Bicep front cover— looks good

there is a video about the cart and the description lists the parts I used. https://www.youtube.com/watch?v=yGyXo1OYfSQ
Feel free to ask for more details of the mechanical parts.

First servo slider test run:

tomorrow I hope to add the (to big) FSR sensor and see what it will do 🙂
(I’m still waiting for the smaller FSR’s)

Thanks for your information.
I get lucky to live in the Netherlands, the shipping costs are free when I order one spool.
And with the 2.2kg spools it’s 30% less in price.

I’m sure I need to play with some settings (temps and max speed).
I hope to start this evening with some tests 🙂

I’ve used CollorFabb PLA for some time now and this prints…[Read more]

Haha 🙂 If the time is there, it can be go fast 😉

How about you, any progress with your “Right” hand ?

Almost done with my design. Just waiting for filament to arrive in the mail so I can print. My design will use many of Gael’s original servo bed and has a printable shaft. HAd to spend a fair amount of time hollowing out the arm and wrist parts but there is a straight run for all the tendons now.

Great Marten!
It’s added to the InMoov Derivative Collection:
http://www.thingiverse.com/Gael_Langevin/collections/inmoov-parts-and-derivatives

Hi Perry,
Yes for sure I will include the springs which I’m using with my Finger_Starter kit.
This makes programming a closed position more easy and they are to safe the servo mechanical way 🙂

Hi Gaël,

I’m happy with this update, it helps a lot to run all the fishing lines more freely !
If the small servo’s are still a life after a stress test…
There is more space left for other functions.
For the stress test I need to make a nice script or better just use a simple Ardiuno random sketch.
So I don’t need a laptop to be on all the…[Read more]

Thanks Rodolfo,
Here a video from this complete setup:

Tomorrow I will start to connect all the finger fishing-lines to the servo-pulley’s 🙂

It looks good so far 😉

Yes 🙂
But, I still need to update some things.
Like the sevobed, so I can mount the Wrist servo on it.
And still some fine-tuning between the servo and the small gear.

I hope to finish this tomorrow.

Haha, my fingers are crossed 🙂

The Wrist servo is blocking the complete way for all fishing-lines.
With the servo placed on the servobed, it makes it full open.
So this saves a lot of friction 🙂

(printer is almost done with the last peace 🙂 )

Hello Perry, this is what happen with my new setup.
The servo is placed on the finger servobed and with a axle connected to the Wrist gears.
I’ve a test setup ready now, so I will upload a video in a short time !

Thanks Richard,
Mechanical way it looks good enough for me.
These pulley’s will need the full 180 degrees from a servo !
Make sure your servo’s supporting this 180 degree turn.

My next step is to see, if the smaller servo’s are strong enough for the complete InMoov Hand !
I hope to find some spare-time tomorrow, during my work… 🙂

Tomorrow and the next two day’s I have some spare time during the day 🙂
First I need to finish my Wrist update, this will help a lot to run more freely !
Yesterday evening/night I’ve printed the first parts and one needs a small modification to fit better.
When this fits well, I can draw the servo part…

I will do my best, to show a moving…[Read more]

Thanks Perry,
You can download the pulley’s here:
http://www.thingiverse.com/thing:1794206

Hi Richard,
I’m almost sure these smaller servo’s are strong enough for the Hand.
(don’t forget the special pulley which I’m using!)
The spring which I’m using now, is perfect to start.
If needed, I can use a stronger spring to get more torque.
I hope to show the results this weekend 🙂
My goal is minimum to hold a softball or a bottle of…[Read more]

Thanks Rodolfo,

Yesterday I’ve changed the servo-adapter to V2 !
http://www.thingiverse.com/download:2803246
These are easier to mount to the CS238MG servo.

I will install the new servo’s tomorrow in my Right hand…
So hopefully this weekend I can make a good video with all the results.
And I will make a Step by Step “How To”.

If you have…[Read more]

Hi Gaël,

For a 0 to 90 degree turn, I need to make them a bit bigger !
These are now designed for 0 to 180 degrees.
(please check your dropbox ! 🙂 )

After some tests, I will upload them to Thingiverse.

Thanks Gaël 🙂

Hahaha, yes I’m still using the same Carbon Finger.
I didn’t print more Carbon Fingers yet…

Hi Gaël,

Thanks and yes, when all is running fine together…. I will share a “little” video 🙂
I think this will happen, when I get the new servo’s because of the fit to the pulley’s.
I hope to get them next Tuesday.

Hi Juerg,

I hope to save some weights with the new servo’s.
They have three times less weight then the servo’s which I’m using now.
And the servobed will be smaller.

About the printing parts.
I’ve done one finger with Carbon fill and is very lite.
I’m only not sure enough, if this is strong enough !

Hmm, it sounds there is something else happen with your servo connection.
If there is a shortcut between the Arduino shield and the small PCB, the flat-cable will start getting hot !
Please double check if there is no connection between servo outputs 10 and 11.

If possible could you send me some pictures from your boards?

Hi Gaël,

The spring main function is to safe the servo mechanical (there is no direct blocking anymore).
And including my servo pulley’s, the finger “close position” gets a smaller arm length !
So this safes a lot of energy use from the servo, when the finger is in his “close position” 🙂
I’m almost sure this spring setup is enough to hold a…[Read more]

Thanks Gaël and yes it was “a lot of fun” 😉

Sorry, yes, just route the connection from either plus or minus pole from the power supply to the servo through the fuse. The fuse is supposed to heat up with current flowing through it and increases resistance thereby lowering the voltage for the servo and make it stall. The fuse regenerates when cooling off.
The fuse works in a slow mode so…[Read more]

Update: Actually had a problem with left shoulder rotation servo (continuing small repositiong with growl) and after a while it stopped to move (fuse and servo rather hot) so the fuse did it’s job.
Have added now the 104 (100nF) caps for all shoulder servos (between signal and ground) and as it did not completely stop the growl a lot of has gone…[Read more]

thanks, great picture but I do not use nervo boards.
the pin right next to e.g. 12 is the signal line?
the dark green edged pins are the + power ones?
the 100uF ground side is on the signal?
and 104 is a 100 nF cap?

I printed your inmoov face, its very nice, I will try the jaw mechanism later and will show you the job finished

All bronce is PLA, yes

Thanks Gael, unfortunately it wasn’t really worth the work invested. I assume you found similar results with nylon and carbon?

thanks, makes sense and I can hear it now!

Ah of course!! Marvin has a great look! Only the eye pupils are too small and it makes him a bit scary.
🙂
You could use the same blue paint for to color the eye rings

Hi Mats
Thanks for pointing this out and sorry Markus for not mentioning you instead. I mixed up your names and it’s Markus who holds the record in disassembling InMoov for transportation in a suitecase!

I just wanted to thank you all for the replies I received for my modified hand from different sources. I hope to see soon a copy of my hand on other InMoov’s!

Hi Mats
I think I got your point. When doing my first pulleys I had problems that they interfered with the cover, adding a second track would require lower built servos or a modified servo-bed? And the string-guiders will need to be adjusted?

Your link seems to be broken… I also can’t find your parts on Thingiverse

Thanks Gael !

Haha, I can’t wait…
I’m printing the last day’s at Day and Night… 🙂
I hope the forearm is ready in about two day’s.

Next day’s I will check all the lengths which each finger needs to lift them completely with the new servo pulley.
So I can start re-designing the pulley for each finger.

Hi Gael and thanks for your comment and time 🙂

The elastic cord is a basic peace which you normally will use for clothes.
It’s now just to do the job of the spring.
I’ve ordered some springs and have to wait they will be here.

I hope the asymmetric effect is in a positive way 🙂
At the end of the finger position, the servo can give more…[Read more]

Thanks Gael,

And good to now about the limited thickness.
I will check this when all underarm parts are done.
There is a easy way to save some hight if needed, I can include some holes for the two screws.

Hi Gael,

Just checked the hight and it fits fine.

Hi Juerg,

Thanks for your input about this.

The good thing to use a 180 degrees pully, is that there is less change to break any mechanical parts.
A other good thing is, there is a higher resolution to place/hold the finger at his position.
Have you seen my Finger Starter video ?
Here I’m using a MG996R servo and it turns a full 180 degrees…[Read more]

Hi Gael,

Not yet, I first like to now if everything will fit well together.
If yes, I will place it on Thingiverse.

I’ve seen the two other designs, but all have the same thing by some servo mount places.

It’s good to have control of the string length at the pulley, maybe your tutorials should include this update?
For the springs – I think it’s good to keep the strings under tension – great pictures and nice cabeling! But e.g. a bit of a fragile object might still be broken because the servo won’t stop?
I see you use your preferred HK servos in…[Read more]

Here a direct link to download the the code:
https://copy.com/oAbFa2h1JoIPBVc7

You are right – there are many missing pieces in the specs the producers or resellers provide.
Maybe we could make a call for all builders to ask servodatabase for additional columns in their filter and list?
I just started with a mail to admin@servodatabase.com!

Thanks Gael
My printer is a Multec 300 and I print most everything with 0.1 mm layer and 2.85 mm filament.
After spending a lot of time with aceton slurry and removing/reattaching the print bed sheet I print now only PLA-HT on a “never have to change” printbed. The vertical surfaces tend to be a bit rough, I assume due to the fact that the Z-axis…[Read more]

Hi Gael, for sure, did not pay attention to that. applied the cc-by-nc to all my InMoov parts. Will start work to make my omoplate holder variable too.

Hey Gael,

The CarbonFil is more PET based !
And yes, it’s nice material to use but it needs some attentions for the first layer.
(OK I’m still playing with some settings like Nozzle Temp and PrintSpeed)

About the servo:
The thing what I hope to test, is that we can use smaller servo’s so we getting less weights in the Arms !
Each gram what we…[Read more]

I don’t now yet with the fingers.
The CarbonFil is great stuff and feels strong.
I’ve used this to make some prototype parts for my Camera Gimbal.
And it didn’t break 🙂
For now I’m still waiting for advice about which glue I can use for this CarbonFil.

I will come back to this question if I now more 😉

I got the same trouble. Happily with abs it can be repaired quickly with acetone.
Some times after I found this tip, just heat to smooth the holes. It looks like Mats Önnerby tips with airgun to mount pla parts but with a solder iron.
Have a look on this video :

Hope it can help.

Haha, yes the video is good for all the joint parts.

I was more focused how to glue all fingerparts together like part-1 with part-2 etc….
CarbonFil is PET based and PET is difficult to glue normally.
I hope the 30% of carbon-mix will make it easier to glue this together.

I use a Velleman Vertex K8400 printer with an unheated glass bed with BuildTak. PLA sticks well to it. The BuildTak has to be replaced about once per month. I have never tested ABS. The printer has three fans to cool down the PLA. I have to use a lot of force to break any part. It they break, you may have to little infill or to thin walls. I use a…[Read more]

It looks to be kept secret what material it is. It is also rather expensive but after having encountered so many problems I gave it a try (beside other materials) – and at least for me and my PLA-HT it works like a charm.
When I compare ABS prints with the PLA-HT the second is much more robust (like I can not brake the large lower arm parts…[Read more]

Hi Gael
Thanks for your comment.
I bought it for the hobbyking statement 30kg/6v and 0.15s/6v for 60 deg. The servo I got is named v2, but you can also find other statements where only 15 kg are given. Do not know but performance looks to be acceptable and I am quite sure it could be good for other HS805 replacements. It is rather easy to change…[Read more]

Hi Gael,

Thanks for your offer about the spare hand 😉
It’s no problem to print it myself, it’s a good test for my new UM2 configuration.

I think there is a easy way to place a magnet in the top from the Vingers.
This peace is printed in two parts, so I can drill a hole from 2mm in on of the parts.
For the Hall sensor I’m not sure about the…[Read more]