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LAD Robotic Torso V1.0--Humanoid Robot

LAD-Torso-CULTSv3.0.gif LAD Robotic Torso V1.0--Humanoid Robot
~540mm TOTO J1 t J2 t ~497mm J3 t J4 t —— J5 t—_, Ribcage LAD Robotic Torso V1.0--Humanoid Robot
LAD-Robotic-Torso-spining.gif LAD Robotic Torso V1.0--Humanoid Robot
short-clip-v4.0.gif LAD Robotic Torso V1.0--Humanoid Robot
LAD-Torso-CULTS-V3.0.gif LAD Robotic Torso V1.0--Humanoid Robot
1.0 | Arduino 1.8.1 LAD_ File Edit Sketch Tools Help LAD_Torso_V1.0 //LAD_ROBOTIC_TORSO_V1.0. a JVITIMIITITIIIII 1111 /0sex need to check the pulse width of each t and update the values shown below //Pulsewidth Range Right Arm// int Rminl = 1620; // Servo J1...17deg as per kinematics. full Flexion of the shoulder, above the Horizontal int Rmaxl = 871; //Servo Jl... -90deg as per Kinematics, full Extension of the shoulder, hands pointing down. This is also Home position int Rhomel = Rmax1;///Servo J1...-90deg as per kinematics int Rmin2 = 2180; ///Servo J2...90deg Kinematics, Full adduction of the shoulder, arm on the side of the torso. This is also Home position int Rmax2 = 1560;//Servo J2 int Rhome2 = Rmin2; //Servo J2...90deg Kinematics. Arm on the side of the torso Odeg kinematics, full abdution of the Shoulder, Arms Horizontal int Rmin3 2029; // //Servo 33... This is 45deg as per kinematics, internal rotation of the shoudlers int Rmax3 1019; //// Servo J3...This is 135deg as per kinematics, external rotation of the shoudler int Rhome3 = 1542;///Servo J3...90deg kinemacis int Rmin4 500; // Servo J4...is -145 deg (kinematics). Full flexion of the elbow, hands up int Rmax4 = 2500; // //Servo J4... is 0 deg of Servo4, Full extension of the elbow, hands pointing down int Rhome4 = Rmax4;///Servo J4... 0 deg int Rmin5 = 874; //Servo J5... -180 deg as per kinematics, palm down int Rmax5 2148;// Servo J5...is 0 deg as per kinematics, palm up int Rhome5 = 1487;//1243;//Servo J5...-90deg, Palm facing Torso //Pulsewidth Range Left Arm// int Lminl = 1159; // Servo J1...-17deg as per kinematics...full Flexion of the shoulder, above the Horizontal ee LAD Robotic Torso V1.0--Humanoid Robot
LAD Robotic Torso V1.0 Current Serial Pont | COM15 t oe? Test Individual ts Move End Effectortoa & known location X,Y,Z LAD Robotic Torso V1.0--Humanoid Robot
LAD ROBOTIC TORSO: ASSEMBLY INSTRUCTIONS CONTENTS 1 MATERIALS z 1.1 OVERVIEW 2 1.2. BILL OF MATERIALS. 3 1.3. LABELLING OF THE STL FILES 6 1.4 LIST OF 3D PRINTED COMPONENTS .. 7 2. PRINTING TINGS IN CURA .. 9 3. TRICKS OF THE TRADE REMOVING S FROM 3D PRINTED PART! INSTALLATION OF M3 NUTS 3.2.1 Loose fit. 3.2.2 Press Fit 3.3. Shortening the length of a scre 34 Il & J2 Servo Modification. 3.5. Fixing Servo Trimpots to external hardware with a 3D pen. 3.6 Filling Gaps of Trimpot Gear with Glue gun. 3.7 Lubrication of 3D printed pat 4 MAIN T (ID) 4.1 COMPONENTS OF J1. 4.2 INSTALLATION OF J1 3 ADDUCTION/ABDUCTION OF SHOULDER T (J2) 5.1 COMPONENTS OF J2.. 5.2 INSTALLATION OF J2 6 INTERNAL/EXTERNAL 6.1 COMPONENTS OF J 6.2 _ INSTALLATION OF J 7 ELBOW T (J4). 7 7 8 8 8 9 -1 COMPONENTS OF J4.. 2. INSTALLATION OF J4. PRONATION/SUPINATION OF THE FOREARM T (J. 1 COMPONENTS OF J. 2 INSTALLATION OF J5 SPINE & CLAVICLE 9.1. COMPONENTS 9.2 INSTALLATION OF SPINE AND CLAVICLE.. 10 ARM TO SPINE ASSEMBLY .. 10.1 COMPONENTS 10.2 INSTALLATION OF ARM TO SPINE ASSEMBLY i RIBCAGE 11.1 COMPONI 11.2 INSTALLATION OF RIBCAGE. 12 INSTALLATION OF END E! LAD Robotic Torso V1.0--Humanoid Robot
CONTENTS 1 2 3 4 4.1 4.2 43 4.4 4.5 4.6 4.7 4.8 ARDUINO WIRING JOYSTICK CONTROLLER ARDUINO SERIAL MONITOR WINDOW MATLAB APP ..... Installing the App Staring the App Main menu .. Load coordinates Test Individual ts Move End Effector to a known location X,Y,Z 12 Reach of each arm LAD Robotic Torso V1.0--Humanoid Robot
BOM1.jpg LAD Robotic Torso V1.0--Humanoid Robot
BILL OF MATERIALS (continuation) e 1pes of Arduino nano board or similar e 1 power supply 5 to 7.6v (depending to the limits of your servos), with an output current greater than 3amp (photo for your reference of a 300W DC-DC Buck Step-down Converter Power 20A Adjustable Module Charger) e Apes of Round Horns (Standard plastic) LAD Robotic Torso V1.0--Humanoid Robot
BILL OF MATERIALS (continuation) © 2pces of Round Horns (Metal, 25T) M3 ~13.55mm e pcs of Horn Arms 25T rb e Apes of Skateboard Bearings:.22mmOD, 8mm ID, 7mm width e 250pes of Ball bearings, 4mm in diameter LAD Robotic Torso V1.0--Humanoid Robot
BILL OF MATERIALS (continuation) e The following Hardware Hardware quantity Hardware quantity M3x5 mm screw 6 M3x16 mm screw 18 M8 nut 6 4Gx9mm Self Tapper M3x25 mm screw 84 Screw 184 6Gx12mm Self Tapper M3x35 mm screw 22 Screw 58 M3 flat washer (thickness of 0.5mm) 144 M3x10mm Screw 8 M3 nut 158 M8x85. bolt. Hexagonal head, fully threaded 2 LAD Robotic Torso V1.0--Humanoid Robot
BILL OF MATERIALS (continuation) Bar/Pipe 21.4mm OD of several % 21.4 lengths: -344mm long (3pes) -190mm long (1pe) -95mm long (2pes) -84mm long (2pes) << NOTE: This can be a standard 21.4mm in OD PVC pipe, a wooden broom stick, or a steel bar (2 meters in total length). If you are unable to find this size, you can get a larger OD size bar/pipe, up to 25mm (1” OD), in which case you will need to modify the following files to suit the new bar/pipe diameter. R-J1-1.STEP L-J1-1.STEP CSC-1.STEP CSC-2.STEP SPC.STEP RL-J2-10.STEP RL-J3-8.STEP RIBCAGE BACK .STEP Open the STEP files for these parts and modify the holes made for a 21.4mm~ 21.9mm bar/pipe to suit the size of the bar/pipe you can outsource. LAD Robotic Torso V1.0--Humanoid Robot
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8 files (PDF, RAR, and ZIP) Close
  • LAD Robotic Torso - Installation Manual rev2.1.pdf
  • LAD Robotic Torso-Wiring and Controller code rev2 .pdf
  • LAD_Torso_V2.0.ino.zip
    • LAD_Torso_V2.0.ino
  • MATLAB App_V2.zip
    • LAD_Robotic_Torso_2022a_V2.mlappinstall
  • STEP FILES.rar
  • STL FILES plus.zip
    • J1/L-J1-1.step
    • J1/L-J1-1.stl
    • J1/L-J1-17.stl
    • J1/L-J1-2.stl
    • J1/L-J1-6.stl
    • J1/R-J1-1.step
    • J1/R-J1-1.stl
    • J1/R-J1-17.stl
    • J1/R-J1-2.stl
    • J1/R-J1-6.stl
    • J1/RL-J1-10--0.2mm gap.stl
    • J1/RL-J1-10--0.3mm gap.stl
    • J1/RL-J1-10--0.4mm gap.stl
    • J1/RL-J1-10--0.5mm gap.stl
    • J1/RL-J1-11.stl
    • J1/RL-J1-12.stl
    • J1/RL-J1-13.stl
    • J1/RL-J1-14.stl
    • J1/RL-J1-15.stl
    • J1/RL-J1-16.stl
    • J1/RL-J1-18.stl
    • J1/RL-J1-3.stl
    • J1/RL-J1-4.stl
    • J1/RL-J1-5.stl
    • J1/RL-J1-7.stl
    • J1/RL-J1-8.stl
    • J1/RL-J1-9.stl
    • J2/L Shell Arm External.stl
    • J2/L Shell Arm Internal.stl
    • J2/L Shoulder cover.stl
    • J2/L-J2-1.stl
    • J2/L-J2-2.stl
    • J2/L-J2-3.stl
    • J2/L-J2-9.stl
    • J2/R Shell Arm External.stl
    • J2/R Shell Arm Internal.stl
    • J2/R Shoulder cover.stl
    • J2/R-J2-1.stl
    • J2/R-J2-2.stl
    • J2/R-J2-3.stl
    • J2/R-J2-9.stl
    • J2/RL-J2-10.step
    • J2/RL-J2-10.stl
    • J2/RL-J2-4.stl
    • J2/RL-J2-5.stl
    • J2/RL-J2-6.stl
    • J2/RL-J2-7.stl
    • J2/RL-J2-8.stl
    • J3/RL-J3-1_v2.stl
    • J3/RL-J3-2_v2.stl
    • J3/RL-J3-3_v2.stl
    • J3/RL-J3-4.stl
    • J3/RL-J3-5 (0.2MM GAP).stl
    • J3/RL-J3-5 (0.3MM GAP).stl
    • J3/RL-J3-5 (0.4MM GAP).stl
    • J3/RL-J3-5 (0.5MM GAP).stl
    • J3/RL-J3-6.stl
    • J3/RL-J3-7.stl
    • J3/RL-J3-8_v2.step
    • J3/RL-J3-8_v2.stl
    • J4/RL-J4-1.stl
    • J4/RL-J4-2A.stl
    • J4/RL-J4-2B.stl
    • J4/RL-J4-3.stl
    • J4/RL-J4-4.stl
    • J4/RL-J4-5.stl
    • J4/RL-J4-6.stl
    • J4/RL-J4-7.stl
    • J4/RL-J4-8.stl
    • J4/RL-J4-9.stl
    • J5/RL-J5 Coupler.stl
    • J5/RL-J5-1.stl
    • J5/RL-J5-2.stl
    • J5/RL-J5-3.stl
    • J5/RL-J5-4.stl
    • J5/RL-J5-5.stl
    • RIBCAGE/CHEST BOTTOM .stl
    • RIBCAGE/CHEST COVER.stl
    • RIBCAGE/CHEST TOP .stl
    • RIBCAGE/RIB 1 set.3mf
    • RIBCAGE/RIB 1 SET.stl
    • RIBCAGE/RIB 2 set.3mf
    • RIBCAGE/RIB 2 SET.stl
    • RIBCAGE/RIB 3 set.3mf
    • RIBCAGE/RIB 3 SET.stl
    • RIBCAGE/RIB 4 set.3mf
    • RIBCAGE/RIB 4 SET.stl
    • RIBCAGE/Ribcage Back .step
    • RIBCAGE/Ribcage Back .stl
    • RIBCAGE/Ribcage Front .stl
    • SPINE COUPLINGS/CSC-1.step
    • SPINE COUPLINGS/CSC-1.stl
    • SPINE COUPLINGS/CSC-2.step
    • SPINE COUPLINGS/CSC-2.stl
    • SPINE COUPLINGS/Joystick base.stl
    • SPINE COUPLINGS/L-J1 .stl
    • SPINE COUPLINGS/R-J1 .stl
    • SPINE COUPLINGS/SPC.step
    • SPINE COUPLINGS/SPC.stl
  • Servo_Tester.zip
    • Servo_Tester.ino
  • Servos Models.zip
    • DS3230MG 30KG Servo with lever.stl
    • DS3230MG 30KG Servo with lever.stp
    • DS3230MG 30KG Servo.stl
    • DS3230MG 30KG Servo.stp
    • GX3370BLS 70 kg servo wiht lever.stp
    • GX3370BLS 70 kg servo with lever.stl
    • GX3370BLS 70 kg servo.stl
    • GX3370BLS 70 kg servo.stp

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Last update 2024-12-17 at 11:25
Publication date 2022-05-28 at 07:11
Design number 737859
LAD_Robotics

LAD_Robotics

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3D printer file info

3D model description

This is the LAD Robotic Torso V1.0; the ideal platform for your robotics projects.

https://youtu.be/hsH16CHexUE

*NOTE: The content in CULTS3D is all digital. These are STL files for you to print at home in your hobby FDM printer, along with the instructions on how to put everything together, an Arduino code to get you starting, a MATLAB App to connect to your Arduino board for additional functions, and instructions on how to use the code and the App. There are also instructions on how to make a joystick controller for manual manipulation. Please refer to the Bill of Materials (BOM) for the rest of the hardware needed to be collected by you to built the robot, like servos, bolts, ball bearings, etc. You can buy this hardware in your local store, Amazon, AliExpress, Flipkart, Walmart, ebay, etc. The Torso does not include STL files to print End Effectors. End Effectors STL files shall be purchased separately *

You can build your own 3D printed humanoid robot, starting with this Torso, composed of two articulated arms, run by10 inexpressive and widely available servo motors. And once you finished assembling and programming, you can continue adding to it, for instance you can add a 3D camera to improve the interaction of the Torso with its surroundings, or a set of wheels to help the Torso move around and get closer to its target, or add speech recognition to control the arms with voice commands. The possibilities are endless and the platform is here for you to explore and expand with your knowledge and experience.

It is composed of two arms, each one with 5 ts which allows:
*Flexion/Extension of the shoulder
*Abduction/Adduction of the shoulder
*Internal/External rotation of the shoulder
*Flexion/ Extension of the elbow
*Pronation/Supination of the forearm.

The LAD Robotic Torso is controller by an Arduino board. The code is included here. You can manipulate the two arms with a two joystick controller. Instructions on how to make this controller are also found here. In addition, you can enter a command from the Serial Monitor Window of the Arduino program to run a DEMO or to move each individual t. If you have access to MATLAB, you can use the App I have developed which runs the kinematic equations of this robot to place the End Effectors in a particular point in space (X,Y,Z) relative to the neck of the Robot, which extends the capacity of the Arduino code.

The LAD Robotic Torso is compatible with the LAD Robotic Hand V2.0 and V3.0, and the Adaptive Gripper V2.0. Both End Effectors can be actuated using the switches of the Joystick controller. All you have to do is physically coupled the End Effectors to the forearm of the Robotic Torso, and connect the RX/TX of the controller boards so that they can talk to each other. A clear schematic of the electrical connections is also included here.

If you wish to purchase the STL files and code for the LAD Robotic Hand V2.0, refer to the following link:
https://cults3d.sitegames.net/en/3d-model/gadget/lad-robotic-hand-improved-version

If you wish to purchase the STL files and code for the LAD Robotic Hand V3.0, refer to the following link:
https://cults3d.sitegames.net/en/3d-model/gadget/lad-robotic-hand-v3-0-stl-files-and-esp32-arduino-code-included

If you wish to purchase the STL files and code for the Adaptive Gripper V2.0, refer to the following link:
https://cults3d.sitegames.net/en/3d-model/gadget/improved-adaptive-gripper-v2-0-complete-kit

NOTE:
All components are 3d printed, with the exception of the spine and clavicle which are structurally demanding. These two are standard pipes/bars 21.4 to 25mm in diameter. They can be made of either PVC, Steel or Wood (broom stick). You can buy this pipe/bar in any hardware store. Check out the Bill of Materials for other components (servos, controllers, bolts and nuts, etc)
https://youtu.be/mYHrTZl2NB8
https://youtu.be/cG275hEiwps

PLEASE NOTE: IF YOU REQUIRE TO CUSTOMIZE ANY ELEMENT OF J1, J2, J3, J4 OR J5, I HAVE PLACED THE STEP FILES OF THESE COMPONENTS IN THE FOLDER "STEP FILES.rar". IN NORMAL CIRCUMSTANCES, YOU DO NOT NEED TO OPEN THIS FOLDER. ALL YOU NEED TO BUILD THE STANDARD TORSO ARE THE FILES ON THE FOLDER “STL FILES plus.zip”.

3D printing settings

Everything is included in the Installation Manual

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Robots

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