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A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research.
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.gitignore
AssembledRobotAnimation.gif
BeagleBoneBlue_CaseW_RS485USB-Inner.STL
BeagleBoneBlue_CaseW_RS485USB-Outer.STL
DualMotorPCBspacer.STL
DualMotorsCrossSection.png
HipJointCrossSection.png
HipPulleyHub-Gear.STL
HipPulleyHub-PressurePlate.STL
LICENSE
LegCrossSection.png
LowerLeg.STL
LulzbotMini_TipTap.curaprofile
PelvisBracket.STL
PelvisBracketForServos_WBuckConv.STL
README.md
RobotAssyBack.png
RobotAssyFront.png
SwivelPlate.STL
SwivelPlateMirror.STL
SwivelPlateServoMount.STL
SwivelPlateServoMountMirror.STL
UpperLegGeared-Leg.STL
UpperLegGeared-PressurePlate.STL
UpperLegHubGear.STL
UpperLegOuter.STL

README.md

TipTap

A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research.

Software

  • Coming soon!

Component

Please let me know if you find these directions difficult or find mistakes, thank you!

Manufactured Components

Printed Components

Note: I used the LulzbotMini_TipTap.curaprofile on my lulzbot mini to print all of the parts in esun PLA+.

  • Qty 1. BeagleBoneBlue_CaseW_RS485USB-Inner.STL
  • Qty 1. BeagleBoneBlue_CaseW_RS485USB-Outer.STL
  • Qty 2. DualMotorPCBspacer.STL
  • Qty 2. HipPulleyHub-Gear.STL
  • Qty 2. HipPulleyHub-PressurePlate.STL
  • Qty 4. LowerLeg.STL
  • Qty 1. PelvisBracket.STL
  • Qty 1. PelvisBracketForServos_WBuckConv.STL
  • Qty 2. SwivelPlate.STL
  • Qty 2. SwivelPlateMirror.STL
  • Qty 2. SwivelPlateServoMount.STL
  • Qty 2. SwivelPlateServoMountMirror.STL
  • Qty 2. UpperLegGeared-Leg.STL
  • Qty 2. UpperLegGeared-PressurePlate.STL
  • Qty 2. UpperLegHubGear.STL
  • Qty 2. UpperLegOuter.STL

Purchased Components

  • Qty 4. 623ZZ 3mm x 10mm x 4mm Shielded Deep Groove Precision Ball Bearing
  • Qty 6. MR63ZZ L-630 673ZZ Ball Bearings
  • Qty 2. AST 6706-2RS Thin Section Bearing
  • Qty 2. MG92B servos
  • Qty 2. BESTORQ 300-3M-6 3M Timing Belt
  • Qty 1. BeagleBone Blue (BBB)
  • Qty 1. LM2596 Buck Converter (set to output ~7.4v for the BBB)
  • Qty 1. Mini Micro ZH 1.5 3-Pin JST Connector (to connect LM2596 to BBB)
  • Qty 1. JBtek USB to RS485 Converter Adapter ch340T
  • Qty 1. UCEC Short SuperSpeed USB 3.0 Extension Cable - Left/Right angle
  • Qty 4. uxcell 304 Stainless Steel Dowel Pin 3mmx30mm
  • Qty 2. uxcell 304 Stainless Steel Dowel Pin 3mmx10mm
  • Qty 2. Rubber vacuum cap 1/4" Tube OD, 1-1/4" Long
  • Qty 4. M3x8mm Nylon bolt and nut
  • Qty ~200. 96817A156 Thread Forming Screw for Thin Plastic
  • Qty ~6. Mini zip ties
  • Qty ~. Your preference for connectors and wires, I used 7 XT30U connectors with 18AWG silicon wires for power

Recommended Support Components:

  • ~24V Power: A benchtop power supply, lipos, or a 24V ~10A power adapter.
  • A soldering station, some spare silicon wire, wire cutters, strippers, and snips
  • A T6 torx screwdriver for the 96817A156 screws
  • A phillips screwdriver for the nylon bolts
  • Superglue or epoxy to fix the knee joint 3mmx30mm pins in place

Pictures / Assembly References

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