STEP 1: We have just laser sintered the Poppy files and are trying to confirm that the size is accurate before we purchase the rest of the components. We are thrilled to be contributing to the Poppy Project community. We will be positing all of our updates as we continue to evolve Poppy here at The 3D Printer Experience in Chicago.
Please confirm this is the actual size based on the ruler next to the print. Also, please fix being able to only post one picture as we would like to have posted two. So you can actually see what the ruler says on it up close.
CEO / Founder
The 3D Printer Experience
Is it your printer ? The result is really impressive.
The relative size of the parts looks good yet it is difficult to say if the absolute size is ok. Can you add a picture with just a leg and the ruler please ?
Yes that was my second photo. The forum does not allow new users to upload more then one photo per post.
Here it is:
Matthieu, my results are always impressive. We are the 3D Printer Experience.
Thank you for noticing.
And yes, the printer is ours and on site.
Ok so it appears your parts are smaller than the normal ones:
If you have not Solidworks, you can easily check any measure you want with the GrabCAD repository:
Here is a photo of the leg section (lower) With easier to read measurements.
We do not have a seat for Solid works yet (in process but not yet) So I used eDrawings to open the file and convert to stl… Does it change the scale of the parts when using this workflow compared to opening the files in Solidworks? I made no adjustments, just opened the parts and then exported to STL.
I don’t know how the process generates STL files, but it seems it does not handle it well.
We distribute official STL
release to avoid this kind of problem. You have all information here:
OK so for those downloaded parts the leg section is coming in at 189.64mm. in length as the previous image was measured. Is this sounding better? Just want to make sure before we print again.
Thank you!! We appreciate the direction!
@Julie3dpx and @Todd3DPX !
Any news of your experiments with the Poppy humanoid?
I have been off site for the past 3 weeks and now back in the drivers seat of building Poppy. We need to locate some Robotics experts in the chicago area to assist us in building Poppy. We have all the pieces printed at this time. We have contacted local universities, but have not been successful there.
Please give us some contact names of who we can call in our area to help us construct the robot.
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Software comes with Poppy correct? We have found someone to help us build the robot.
Yep you will have all what you need to start the robot.
Just take care to respect the convention when you build the robot:
When you want to assemble a Poppy, the first thing to do is to ensure yourself you assembled correctly the horn on the Dynamixel motors. This is both the first step and maybe the more critical. An error in the configuration or assembly here is really boring to change once Poppy assembled.
1. Fix the horn on the motor
###Warning! This step is critical!
Dynamixel motors are sold unassembled, you have to add manually the horn HN07-N101 (for MX-28) and HN05-N101 (for MX-64).
The critical point is…
As you should take care of the alignement when you put the horn on the Dynamixel motor shaft (see this
topic), you should pay attention when you attach the 3D printed parts on the horn.
The zero position has to be correctly aligned with the part to ensure both a good range of motion and the compatibility with the pypot robot configuration. To do so, I have added a tip directly on the part. If you look around the horn fixation, you will see 3 dots.
Here the example with the left thigh:
The assembly of the pelvis part is a bit non-intuitive. Indeed to assemble the abs_y motor and the pelvis part, you have to spread it a bit (about 5 mm):
Also, to do it easily, you should also remove the screws holding the MX28 horn.
If you begin by fixing the l_hip_x and l_hip_y motor, it will increas the rigidity of the pelvis part. You will be unable to bend it enough for passing the abs_y motor. If you insist you will probably break the part !
So first you add the double rotatio…
Most of the time, when you will assemble a Robotis Dynamixel with a Poppy part, you will have 2 orientation options. To be compatible with our convention and configuration, you should keep the same orientation as us when you will assemble your Poppy.
This picture is not really clear, but the red arrows indicate the orientation of the motor i.e. where should be oriented the driving horn (HN07/05-N101):
In the head you will have an Usb HUB 4 ports where you will plug the 2 USB2AX.
The USB2AX for the upper body bus should be plug to the head_y (AX12) motor. Then the head_y is plugged to the Bioloid 3P Extension board.
The USB2AX for the lower body will be plug to the SMPS2Dynamixel located at the back of the abdomen.
For the upper body TTL Bus, the following wires are connected to the Bioloid 3P Extension Board located on the neck:
To be compatible with the software we are developing to control Poppy and contribute to the project, you should strictly follow the naming convention we established.
motor_naming_convention.pdf (1.3 MB)
Indeed, in the poppytools package, motors are named explicitly, for example:
self.robot.l_hip_y.goal_position = -35
self.robot.r_hip_y.goal_position = -35