SelfieBot is a first open source practical fully 3D printed robot that can be made by yourself (DIY — do it yourself)
For a DIY SelfieBot you will need:
1. Access to a 3D printer (at home, at school, in the office, at a 3D printing center, at friends’ or anywhere else…)
2. A filament spool for 3D printing (the plastic type depends on the 3D printer).
3. Files for the body printing. E.g.: https://pinshape.com/items/22311-3d-printed-selfiebot-by-endurance-type-1 or http://www.thingiverse.com/thing:1598651.
4. An electronics set mentioned on the site:http://endurancerobots.com/azbnmaterial/parts/.
5. The servos will additionally need one bracket:http://www.ebay.com/itm/1x-Lopsided-U-Type-Servo-Bracket-fit-for-MG995-/172077458786?hash=item28109da562:g:hzsAAOSwFqJWp0EW and 2 multifunction servo brackets, e.g.: http://www.ebay.com/itm/1pcs-Multifunction-Bracket-Servo-Bracket-PTZ-bracket-Robot-Manipulators-Robot-/181473572268?hash=item2a40aaf5ac:g:fwAAAOSwxH1ULITI
6. A magnetic cradle/holder for a cell phone: http://www.ebay.com/itm/Universal-360-Car-Mount-Sticky-Magnetic-Stand-Holder-For-Cell-Phone-iPhone-GPS-/112005666136?hash=item1a140ed558:g:x14AAOSwoudW6liX or a plastic one: http://www.ebay.com/sch/sis.html?_nkw=Universal+Cycling+MTB+Bicycle+Handlebar+Bike+Mount+Holder+for+Cell+Phone+GPS&_itemId=291756815001&_trksid=p2047675.m4096#payCntId
7. A cross driver
9. Pliersorroundnosepliers, orpincers
10. Achargerwith 12 Vvoltageoutput. The voltage output and the power connector type must match those in use in the country where the device will work. For example: http://www.ebay.com/itm/New-Plug-Adapter-AC100-240V-To-DC-12V-2A-Power-Supply-For-3528-5050-Strip-LED-EU-/252436004023?hash=item3ac65bbcb7:g:cOQAAOSwQoFWPGJf
All the items are mounted so that one row on the contact breadboard builds a common «minus».
Connect the «minus» of the power connector, the «GRD» pins of the microcontroller and of the Bluetooth module to this «minus» with the black wires.
Connect the «ground» of the pins of the servo connectors to our common «minus» with the brown wires.
Using the red wires, connect the power connector «plus» and the DC / DC converters inputs through a fuse.
Using the orange wires, connect the output of the 7V converter to the «plus» pins of the servo connectors.
Using the yellow wires, connect the 5V converter output to the microcontroller and the jumper connectors in accordance with the schematics. Connect the «Vcc» pin of the bluetooth module to the connector of the corresponding jumper.
Connecting the «minuses» and «pluses» in this way, we join the assembled scheme through the power connector to the power source.
Using the orange wire, connect the «REF» pin to the microcontroller power supply. This is an optional connection, but you may need it in the future when upgrading this version of the SelfieBot Base 1.1 electronics.
Using the green wire, connect the «RST» pin through the connector of the corresponding jumper to the microcontroller power supply through a 100 ohm resistor.
Connect the «Rx» pin of the Bluetooth module to the «Tx» pin of the microcontroller, and the «Tx» pin of the Bluetooth module to the «Rx» pin of the microcontroller.
Using the purple cable, connect the control pin of the connector for one of the servos through a 100 ohm resistor to the «D6» pin of the microcontroller.
Using the purple cable, connect the control pin of the connector for the other servo, through a 100 ohm resistor to the «D5» pin of the microcontroller. Since this connector is a bit away, use two blue wires connecting them via the contact breadboard.
The assembly of the Selfiebot Base 1.1 electronics on the contact breadboard is ready.
Before supplying power to the assembled Selfiebot Base 1.1 electronics on the contact breadboard it is necessary to:
To check the setting of the voltage converters it is necessary to:
For programming the microcontroller it is necessary to:
2.1. Download the SelfieBot body files at this link: https://pinshape.com/items/21195-3d-printed-selfiebot-by-endurance or http://www.thingiverse.com/thing:1508489
2.2. Use Cura (download Cura) to convert the SelfieBot body STL files into GCode for 3D printing.
2.3 Launch Cura app. and open the downloaded STL files one by one pressing the LOAD button in the upper left corner of the model view window until you fill the printing area.
2.4. You may use your usual 3D printer settings for SelfieBot body printing. Preferred printing settings for Wanhao Duplicator i3 with Nozzle size of 0.3 mm using PLA plastic in Cura are:
Layer height (mm) — 0.2
Shell thickness (mm) — 0.9
Retraction is enabled
Bottom/Top thickness (mm) — 1
Fill Density (%) — 20-35 (any of this values are usual)
Speed and Temperature:
Print speed (mm/s) — 30
Printing temperature (C) — 210
Support type — Touching buildplate
Platform adhesion type — Raft
Diameter (mm) — 1.75
Flow (%) — 100.0
Speed (mm/s) — 40.0
Distance (mm) — 1.5
2.5 In the menu FILE press “Save gcode as…” on a flash memory device compatible with your 3D printer (microSD for example).
2.6 Insert the flash memory card into a 3D printer, and print the files according to your 3D printer instructions.
When the electronics is ready, connect the servo motors to it and turn it on to set the servo motors in a zero position. Then turn it off and disconnect the servo motors.
3.1. Prepare the crosshead screwdriver, tweezers and pliers.
3.2. Prepare 26 screw nuts 3 mm in diameter and 7 screw nuts 4 mm in diameter.
3.3. Prepare countersunk head screws 3 mm in diameter:
10 mm — 8 pcs.
16 mm — 8 pcs.
round head screws 3 mm in diameter:
8 mm — 2 pcs.
16 mm — 6 pcs.
20 mm — 10 pcs.
countersunk head screws 4 mm in diameter:
25 mm — 6 pcs.
(you may need more screws — it is up to you).
3.4. Screw part #1 with part #2 using two 4 mm screws and two screwnuts.
3.5. Screw parts #1 and #2 with part #3 using, at least, four screws and screw nuts 3 mm in diameter.
3.6. Screw the frame for a servo motor using two screws and screw nuts 3 mm in diameter.
3.7. Screw the servo motor with the frame with its shaft to the up in the center of part #3. Make sure that the servo cord is located in the low compartment.
3.8. Mount the round cap on the servo motor shaft and screw it with a 3 mm screw.
3.9. Mount part #4 with a second frame for a servo motor on it.
3.10. Screw the round cap of servo motor #1 using four countersunk head screws through the second frame.
3.11. Place the second servo motor cord in the low compartment and screw it to the frame.
3.12. Screw a 3 mm round head screw through 4 mm screw nut to the frame at the servo motor shaft level from the other side.
3.13 Mount the servo motor shaft cap and then mount the bracket on the shaft from the one side and to the 3mm screw with 4 mm screw nut from the other.
3.14. Screw the bracket to the servo motor shaft cap.
3.15. Mount parts #5 from both sides of the bracket and screw it.
Final SelfieBot electronics assembling process. Ultimate version. Available only upon request.