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.

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 for big parts to avoid warping.

NOTA: I have designed a New Neck mechanism which is available for download in the Gallery, but is not shown in the below tutorial.( newNeck.mp4)

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.
Using MyRobotLab with a InMoov.minimalHead.py
Check InMoov service Myrobotlab for pin connection to get this added to your robot.

Comments 74

  1. 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

    • 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!
      🙂

  3. 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!!

  9. NIKOS GIANNAKOPOULOS

    Hello Gael !

    I’m Nicola from Greece,
    Congratulations for your amazing Inmoov design!
    I’m a high school teacher and I intent to introduce the Inmoov robot to my students!
    I’ve just finshed the head but there is a problem on TopBackskullV1.stl files.
    Something is going wrong with the half part (I use repetier sotware).

  10. Louvet Winfield

    Bonjour à tous,
    Je suis étudiant à l’université de Valenciennes en Licence professionnelle et je travaille sur le projet INMOOV.
    Je m’occupe de la partie tête et cou et j’ai besoin de savoir approximativement le temps que cette partie met à être imprimé pour l’élaboration de mon gantt.
    Merci d’avance

    • Gael Langevin

      Bonjour,
      Tout va dépendre du logiciel et de la configuration de celui-ci, ainsi que de l’imprimante utilisée et de la matière employée.
      Votre logiciel devrait avoir cette fonction afin que vous puissiez établir une liste approximative du temps d’impression pour chaque pièce ainsi que du poids de matière consommée.

  15. Pingback: InMoov & My Robot Lab for Dummies (part 1) – Scognito's blog
    • Gael Langevin

      Hello,
      Robots to aid people how?
      InMoov is designed to help people and students to create the next generation of Humanoids with a Open Source AI.
      All programming info is on the website InMoov.fr.
      Check the tabs in Build yours/How to install MyRobotLab.

  17. simon

    Bonjour,
    J’aurai une petite question concernant le cou.
    Je ne trouve pas Neckhinge, et il y a d’autre pieces comme neckplate qui ne sont pas dans le tuto.
    Y a t il quelque part une vue éclatée de inmoov avec les nouvelles pieces?
    Merci pour vos réponses et votre travail.

  20. Vincent Fabricio Mancera

    Hello Gael, contratulation for that great proyect!
    I was download the parts of the neck but I’m not look how use the NeckPlateHighV2.stl and NeckPlateV2.stl
    Where can I find the step to step?

  26. Alex

    Hey Gael,

    Im rebuilding and old version inmoov and i would like to update it with the new face and neck.
    chest and back are compatible with the new version of face and neck? I also will need a guide to how to assamble them. Do you have any tutorial?
    Thanks!

  28. Patrick

    Hi. I am also building this amazing robot.. Congratulations for an exellent job.
    I have a question: Do you have some tutorial how to put the New Neck mechanism togehter?
    its confusing because the old tutorial does not correspond to parts

    Greetings
    Patrick

  30. Jae

    Hi Gael, Im printing the 3D files.
    In the jaw tutorial JawHinge.stl, there is only a small cylinder located in the middle of both ends, but the JawHingeV1.stl in the Gallery/STL of the site has an extra cube besides the cylinder(obviously not in the middle). Could you explain what the difference? How do I print it?
    Thanks!

  31. Giuseppe B.

    Hi, really a great project! I would like to start with neck, jaw and face, referring to this tutorial. Anyway I could not find in library the second piece “NeckHinge”: did I miss something? Thanks for your support

  32. ege

    Hi Gael, I started an InMoov project, I took out the parts from my 3d printer and ordered other electronic parts, but we have a problem like I want to use myrobotlab software but how can I make this project talk I could not find on the site and I am Turkish and Inmoov do not speak Turkish so I have the speech files etc. how and where can i edit it?
    I hope you can answer, have a nice day…

    • Gael Langevin

      Hello,
      InMoov cannot speak Turkish because there is no available Turkish free TTS compatible with Myrobotlab.
      If you want to edit the files anyway, you need to go into:
      InMoov->chatbot->bots->en(for english)->aiml
      Some aiml file are related to the other aiml files to function properly.

  33. FrankChalabi

    Hello Gael

    I ask for help please, thank you.
    My problem is as follows: Before uploading the program to my 2 arduino boards, I wanted to test the “fingerstarter with voice” program, I change the number of the COM port in the program as stipulated on the procedure, but when I want to connect the COM in the MRL, the whole MRL program quits. I redid, uninstalled everything, redone, but it didn’t work. Can I get help please?

    Bonjour Gael

    Je demande de l’aide SVP, Merci.
    Mon problème est le suivant : Avant de téléverser le programme dans mes 2 carte arduino, je voulais tester le programme ” fingerstarter with voice” , je change le numéro du port COM dans le programme comme stipulé sur la procédure , mais quand je veux connecté le COM dans le MRL, tout le programme MRL se ferme. J’ai refait, désinstallé le tout, refait , mais ca n’apas fonctionné. Est ce que je peux avoir de l’aide svp?

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