Friends – Activity – Sebastien

Marten de Groot posted an update 8 years, 2 months ago

I’ve connect all fishing lines to the fingers and the servo’s.
All runs more freely and looks OK for me, here the test video with a complete Arm/Hand/Fingers:

Perry replied 8 years, 2 months ago

That is awesome. No tensioning spring is the best feature! I guess you could add a tension spring like you had in your single finger tutorial.
I think this is pretty innovative which begs the question what does the rest of your bot look like?
- Marten de Groot replied 8 years, 2 months ago
  
  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 🙂
  - Perry replied 8 years, 2 months ago
    
    Sounds like it is time to follow you on Thingiverse 🙂
    - Marten de Groot replied 8 years, 2 months ago
      
      🙂
      I think after this weekend I will upload all files, which are needed to upgrade the Wrist part and this includes the new ServoBed for the small servo’s and the Wrist servo.
      I can’t see that these smaller servo’s can hold it for a longer period 🙂
      But so far it looks good and including the springs I think it’s safe enough to use them!
      - rodolfo rojas replied 8 years, 2 months ago
        
        Really fantastic, you did it 🙂
      - Marten de Groot replied 8 years, 2 months ago
        
        Thanks Rodolfo !
        And all are still running with MRL 🙂
Gael Langevin replied 8 years, 2 months ago

Very nice Marten!
It’s very interesting to see how you managed the wrist servo, I guess we could add a second servo for wrist abduction. That would be a great extra feature. (Hand Mini breakout Nervo Boards and Nervo boards would need to be transformed and all scripts and gestures as well though…)
Will you test it running continuously full 10…[Read more]
- Marten de Groot replied 8 years, 2 months ago
  
  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]
  - Marten de Groot replied 8 years, 2 months ago
    
    BTW, for the Thump I will make a other pulley.
    The one which I’m using now are a bit to big 🙂
    All other fingers are fine enough.
    - anthony replied 8 years, 2 months ago
      
      Great idea Marten ! thank for sharing
      - Marten de Groot replied 8 years, 2 months ago
        
        Thanks Anthony !
        
        I hope to upload all the STL’s tomorrow.
        Tomorrow I will receive my ordered DogBone shaft which is 108mm instead of 89mm 🙂
      - Marten de Groot replied 8 years, 2 months ago
        
        So, the files are on Thingiverse: http://www.thingiverse.com/thing:1824042

Marten de Groot posted an update 8 years, 2 months ago

Finally the new ServoBed is done and fits very well.
For now I’m using a 98mm DogBone drive shaft from a tamiya RC truck.
Later, I will order this one:
https://www.rcplanet.com/Associated_Dogbone_108mm_SC8_2e_RTR_p/asc89576.htm

rodolfo rojas replied 8 years, 2 months ago

Very nice work. I’m waiting to see the fingers and wrist working together. Fantastic
- Marten de Groot replied 8 years, 2 months ago
  
  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 😉
  - Perry replied 8 years, 2 months ago
    
    Once again nice work. It would be great to have a printable shaft for the wrist as opposed to a dog bone. Just another part I would have to wait for when I want to try something late at night. I thought you had a different servo offset in your previous vid and didn’t need the universal joint functionality
    - Marten de Groot replied 8 years, 2 months ago
      
      Thanks Perry,
      
      A printable shaft would be cool, I only think it’s not strong enough !
      And DogBone shafts are very basic parts which are used in RC cars.
      Most local dealers will selling them.
      
      About the servo, in the first test video I was using a “Low Profile” servo.
      For some reason, these servo’s will not run with a Arduino !
      For this reason I…[Read more]
    - Marten de Groot replied 8 years, 2 months ago
      
      Check my last post, to see the full functional Arm/Hand/Fingers:
      
      I’ve connect all fishing lines to the fingers and the servo’s.All runs more freely and looks OK for me, here the test video with a complete Arm/Hand/Fingers:https://youtu.be/8xlMrEUZBTw [Read more]– Marten de Groot (@mdg_nl) October 7, 2016

Marten de Groot posted an update 8 years, 2 months ago

The Servobed is updated, so tonight I can mount the Wrist servo and measure the distance between the small Wrist-Gear and the servo.
To finish this Wrist update, I only need to print the servo link.
Then it’s time to mount the Hand and all the fingers 🙂 (I can’t wait…)

Marten de Groot posted an update 8 years, 2 months ago

rodolfo rojas replied 8 years, 2 months ago

Nice, now it works
- Marten de Groot replied 8 years, 2 months ago
  
  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.

Marten de Groot posted an update 8 years, 2 months ago

I’ve decided to make new Wrist Gears to, so all the Finger-fishing lines are more in line with the servo’s !
The Wrist servo will placed on the Finger servobed and with a axle it will be connected to the small Gear.
When I’ve printed the Gears, I can start drawing the Servo part…
Later I will share more pictures and if it works, I will share all…[Read more]

rodolfo rojas replied 8 years, 2 months ago

I wish that works, it’s a great Idea
- Marten de Groot replied 8 years, 2 months ago
  
  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 🙂 )
Perry replied 8 years, 2 months ago

Hello Marten. I came to that exact same conclusion last night while assembling my tendons. They have been very finicky and I am not confident the spring system will hold up. The wrist rotation really plays with the tensions and geometries. I was thinking of a system where the lines ran through the centerline of the wrist. The servo can be moved…[Read more]
- Marten de Groot replied 8 years, 2 months ago
  
  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 !
  - Marten de Groot replied 8 years, 2 months ago
    
    Here the short video:

Marten de Groot posted an update 8 years, 2 months ago

I’ve updated the info (included a “How To” for my Finger_Starter kit V2:
http://www.thingiverse.com/thing:1794206
And here a video without the spring:

Richard R replied 8 years, 2 months ago

Awesome Marten… going to try these servo pulleys with my new inMoov I am currently building… good work man…
- Marten de Groot replied 8 years, 2 months ago
  
  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… 🙂
  - Richard R replied 8 years, 2 months ago
    
    Yep, I am using 180deg MG995 servos so this should work perfectly and increase grip strength as well…
    - Marten de Groot replied 8 years, 2 months ago
      
      Have you some pictures from your InMoov ?
      Always cool to see other InMoovers growing up 🙂
      
      And a MG995 must do the job 😉
      - Richard R replied 8 years, 2 months ago
        
        Unfortunately I only have a video of the first inMoov I built almost 2 years ago… https://www.youtube.com/watch?v=7YvCuU4EWU8
      - Marten de Groot replied 8 years, 2 months ago
        
        Hahah, very cool!
        A InMoov bartender 🙂
        
        I’m sure you will like the spring, if you hold or take a glass of wine !
        I think the spring has enough pulling power and is more soft 🙂
Gael Langevin replied 8 years, 2 months ago

Great Marten! I want to see when the pulley is set in the servo bed how the servos are acting. As I said in our email exchange, I have burned so many MG996 and MG995, that I do not trust those servos anymore. I never, yet burned a HK15298.
Initially when I created the pulley and the servo bed it was for to solve a restriction rotation of 90…[Read more]
- Marten de Groot replied 8 years, 2 months ago
  
  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]

Marten de Groot posted an update 8 years, 2 months ago

Here two pictures from all MG996R servo’s and All CS238MG servo’s, to see the difference in the total weights.
The CS238MG servo’s saving a 161 gram of weight and they are placed more closer to the elbow !
Both are a positive part, to safe a lot of friction to all arm and shoulder servo’s

For the CS238MG it was necessary to redesign a simple…[Read more]

Marten de Groot posted an update 8 years, 2 months ago

So, all five Servo Pulley’s are done to 🙂
Tomorrow evening (after work) it’s time to assembling all things together.

Perry replied 8 years, 2 months ago

Looks great. Exciting. what pulley designs are you using?
- Marten de Groot replied 8 years, 2 months ago
  
  Thanks Perry,
  You can download the pulley’s here:
  http://www.thingiverse.com/thing:1794206
  - Gael Langevin replied 8 years, 2 months ago
    
    Thanks Marten for sharing! I have added your Thingiverse pulleys to the InMoov collection.
    - Marten de Groot replied 8 years, 2 months ago
      
      Thanks Gaël, to put them to the InMoov collection.

Marten de Groot posted an update 8 years, 2 months ago

So, the CS238MG ServoAdapter production is done for the Right Hand 🙂
Next production are five Servo Pulley sets….

Marten de Groot posted an update 8 years, 3 months ago

Here some pictures to show the difference between the servo weights…
The MG996R was my first choice for the InMoov hand.
The CS238MG servo weights including a mounted servo-adapter 30gr. less as the MG996R !
So if I will use these CS238MG servo’s for my InMoov hand, it will saves a 150gr. of weight 🙂
I think when I’ve finished the new…[Read more]

Richard R replied 8 years, 2 months ago

They may save weight but they may not be strong enough for the inMoov hand… The hand is not the same as the finger starter. There is a lot more friction on the push/pull finger mechanisms. The servos need to work much harder than the simple finger kit… However, let us know if they work because less weigh is always welcome…
- Marten de Groot replied 8 years, 2 months ago
  
  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]
  - Richard R replied 8 years, 2 months ago
    
    Sounds good… looking forward to your results…

Marten de Groot posted an update 8 years, 3 months ago

If you like to print my new Finger_Starter kit including the new pulley’s, here you can find all the files 🙂
http://www.thingiverse.com/thing:1794206

Have fun… 😉

rodolfo rojas replied 8 years, 3 months ago

I will use your idea in my Inmoov Rigth Hamd
- Marten de Groot replied 8 years, 2 months ago
  
  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]
  - rodolfo rojas replied 8 years, 2 months ago
    
    Many Thanks Marten, I wait impatiently your Video, and your “How to”. It’s a very good job

Marten de Groot posted an update 8 years, 3 months ago

Today I finally received my smaller servo’s 🙂
https://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=51891
After printing a servo-adapter, to mount this smaller servo in a standard servo place…
I made some tests with the new pulley and it looks all great !
The current use stay’s very low, even when I’m holding down the…[Read more]

Marten de Groot posted an update 8 years, 3 months ago

Here two views from the pulley which I’m testing with the Finger Starter Kit V2 🙂

When the Finger moves to the Open position, the pulley is pulling with the small circular side.
And when the Finger moves to the Closed position, the bigger oval side is used to pull the Finger…
The servo makes a turn from 0 to 180, that’s way I can use a…[Read more]

Gael Langevin replied 8 years, 3 months ago

I want to test these pulleys for sure! I’m guessing it will be also okay for our servos HK 15298 which have a restriction from 0 to 90 degrees.
- Marten de Groot replied 8 years, 3 months ago
  
  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.

Marten de Groot posted an update 8 years, 3 months ago

Here a video from the new Finger Starter kit V2…
The servo current use, stay’s very low during the test, sometimes it’s passing the 0.26A during a start.
(I’m still waiting for the new servo’s, so a second video will come soon !)

Regards,
Marten

Gael Langevin replied 8 years, 3 months ago

Wouuii video great Martens.Did you use your carbon filament?
- Marten de Groot replied 8 years, 3 months ago
  
  Thanks Gaël 🙂
  
  Hahaha, yes I’m still using the same Carbon Finger.
  I didn’t print more Carbon Fingers yet…

Marten de Groot posted an update 8 years, 3 months ago

Finally the Arduino fits well in the updated FingerStarter_Kit.
(see picture)
The new pulley and adapter for the small servo also fits well.

I need to say…..
I’ve found a other servo, which is a bit bigger and has 10gr more weight
The good thing is, a standard pulley like Futaba will fit.
And it has 2,1kg more torque as the small…[Read more]

Gael Langevin replied 8 years, 3 months ago

Very cool Marten! Once the finger is assembled, a little video will be nice to see!
- Marten de Groot replied 8 years, 3 months ago
  
  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.
juerg replied 8 years, 3 months ago

when trying to reduce the forarms weight – did you experiment with getting less weight from the printed parts too? Just had a chance to look at a fiber enforced part at an exhibition. It had a thin layer of fiber on top and bottom of the part (needs 2 extruders) but showed impressing strenght.
- Marten de Groot replied 8 years, 3 months ago
  
  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 !
  - juerg replied 8 years, 3 months ago
    
    how did you print the carbon item? Layer size? Perimeters? Fill?
    what tensions are you using? did you try to reduce friction of the tensions?

Marten de Groot posted an update 8 years, 3 months ago

This is what I’ve printed yesterday, it needs some smalle updates to fit the Arduino better 🙂
When this all fits well, I will share this @ ThingiFirse including the new servo pulley !

Jaideep Joshi replied 8 years, 3 months ago

Hey Marten, that seems like a great modification. I have a question if you have a moment, since you designed the nerv boards. I have one servo (Rt arm omoplate), which when connected to the nervo board, gets hot and eventually burns when connected to the nervo board. The servo works just fine on a tester etc. I have seen in the tutorial, the…[Read more]
- Marten de Groot replied 8 years, 3 months ago
  
  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?
  - Jaideep Joshi replied 8 years, 3 months ago
    
    Thanks for trying to help me. I sent images via pvt email.
    - Marten de Groot replied 8 years, 3 months ago
      
      Hello Jaideep,
      
      Please read this post from @juerg
      
      An error in a script and an unreachable neck position – just burned another HS805BB so badly, it burned a hole into the case and I can still smell the odor of death when entering the house.I have added now readjustable fuses for all of my large servos (PFRA 160, Reichelt.de).Hope this prevents future smoke!- juerg (@juerg) July 24, 2016
      
      Give it a try and see if this will solve your problem.
      
      @juerg
      Which servo’s are you using in combination together, which gives you this “Jitter” problem ?
      Do you have a oscilloscope ?
      If yes, could you make and share some screenshots, when you…[Read more]

Marten de Groot posted an update 8 years, 3 months ago

Today I’ve printed a first updated FingerTest plate, including a spring which I’m using as a mechanical Servo-Safer.
See pictures….
And tomorrow I hope to test the new 2.5kg servo’s, this depends of the servo’s will be delivered 🙂
I can’t wait….

Gael Langevin replied 8 years, 3 months ago

Hello Marten,
Very nice module for a Finger Starter!!!
There is no doubt that the servo of 2,5kg will work because even a small SG92R works. With the Finger Starter there isn’t much friction. But such servo will burn for sure if used in the hand. The friction is far greater in many ways in the hand, that is the reason even a MG996 of 12kg Torque…[Read more]
- Marten de Groot replied 8 years, 3 months ago
  
  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]

Marten de Groot posted an update 8 years, 3 months ago

Hello InMoovers,

Last weekend a good friend and me where asked to come to the “Mini Maker Faire” in the Netherlands.
http://www.eindhovenmakerfaire.nl/?lang=en
We where there “as builders” to talk with people how like to build something like InMoov.
At our stand, we shared some more projects from https://www.wevolver.com/home/

During this wee…[Read more]

Gael Langevin replied 8 years, 3 months ago

Hey Marten!
Great pictures, I hope the mini makerfaire was a lot of fun!!
- Marten de Groot replied 8 years, 3 months ago
  
  Thanks Gaël and yes it was “a lot of fun” 😉