/robowaifu/ - DIY Robot Wives

Advancing robotics to a point where anime catgrill meidos in tiny miniskirts are a reality.

Roadmap: file restoration script within a few days, Final Solution alpha in a couple weeks.

Sorry for not being around for so long, will start getting back to it soon.

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Prototypes and failures Robowaifu Technician 09/18/2019 (Wed) 11:51:30 No.418
Post your prototypes and failures.

I'll start with a failed mechanism, may we build upon each others ideas.
what was the intended function anon? did you ever solve it?
>Did solve it?
Getting closer, feel free to help.

-pic related are what I've been drawing for a leg mechanism where the foot is always parallel to the trunk, eliminating the need for strong ankle servos. Limits her ability to use them for sexual though, a worthy trade-off to me-
>feel free to help
I think someone already did anon.

This simple mechanism already performs the specification you indicated. Just buy one and take it apart if you need to.
I forgot to mention all leg servos are localized within her hips to lower [the] inertial load [of] her legs on her servos.
Good idea, but I think you'll discover if you actually take my advice that [the swing-arm] mechanism is perfectly amenable to that design approach. You can think of the whole think upside down from a usual desk arm lamp with the weighted base as representing the mass of your servos. Still works identically. Don't forget to add in appropriately-scaled springs anon.
Mind giving us more written explanations of your design anon?
It's system that works like clocks, there's a motor connected directly to the rod which connecting its shaft to the shaft of the next joint. There's a concentric gear around the shafts which moves according to belts which transfer another motors motion to the final fixed gear.
Single motor walking mechanism, made in color to help illustrate its function. Capable of many different angles and speeds depending on lengths.
Simple single motor leg design.
Simplest single motor leg design I can come up with.
Have you created any physical models to experiment with your designs yet anon? I haven't played with them for a while, but I was thinking you could use K'NEX to prototype with. Maybe 3D-printing the parts? They look interesting BTW. Good luck.
Like I mentioned elsewhere, I'm starting with basic bots, working my way to more complex machines. From left to right – line follower, dancing otto, walking hexapod, obstacle avoidance, bi-directional sumobot, and expanding sumobot. So far only bots 1 and 4 work as intended. The dancing bot version I made is trimmed to use as minimum plastic as possible… its legs keep falling off (no wonder there's a more expensive version that uses metal gear connections). I still couldn't get the hexapod to work since the servo libraries I've tried don't work on an attiny85. I'm currently working on the sumobots which I hope will be able to battle each other.

I'm starting to get the hang of designing and printing parts that actually fit the electronics and any existing modules I have. I start by looking for easy-looking pieces on thingiverse then customizing them further then finally designing pieces from scratch.

After the sumobots I plan to make a toy grade 3D printed RC car that uses phone bluetooth + arduino control as well as an RC tank. Then I think I'll finally be able to make some waifubots, including the 1/8 scale rachnera-san and 1/3 scale wrestler bot.
</monster/ pls.

Wow, looks like you have been been busy anon! Good luck.
Tested physically, works but, not that well. Mostly just moves the lower leg segment
Maybe it would be cheaper/faster to prototype initial designs as cardboard cutouts instead?
Tried making a 10-spoke speed encoder wheel that fits the Tamiya 4WD tires, its too brittle and uneven. My plan is to have the optical speed encoder just arch over the main wheels while they spin, instead of trying to read a separate encoder disc. I will try 5 spokes and wont bother with concave shape, I'll just have the holes flat and square. The diameter with the Tamiya wheels is 28.5mm, one revolution is 9cm, so two revolutions or 10 clicks is exactly one maze block traversed.

Repost but the sumobots in action:

In the horizontal pic the bots in order of completion are 1,3,4,2,6,5.

Future bots are all waifu types, using some variation of the Fluffytail design and/or 3D doll pieces:

7. Micromouse (has its own current thread)
8. Cattymouse(larger micromouse with stepper motors)
9. Penguingirl balancebot(bluetooth control)
10. Kiwigirl balancebot(using 2.4Ghz RC radio and stepper motors)
11. Fluffy Rachnera-san(12-servo quadruped)
12. Fluffy Wresler(at least 14 metal gear servos)
13. Panzergirl waifutank (torso on tracked tank chassis)
14. Panzergirl devastator (torso on mecanum wheels). 13 and 14 will dress up like pic related.

Unfortunately neither of the future bots will stand taller than 40cm, I do not have the mechanical know-how to design for high torque, high weight applications.

I've noticed in related news, consumer home robots are closing shop: the makers of Kuri, Jibo, Cozmo, Vector. Most of the AI of those robots are in private servers so the bots will essentially die unless the AI is open-sourced.

Apparently the only successful "robots" are the Roomba, Siri, Alexa, Google Home etc. Either single-function tools or subsidized spyware. That is not good.

We must change that. Right now all I can do is work on creating a standard list of serial commands so that all my future waifubots can be controlled through a single universal arduino-compatible controller - either a physical controller that uses bluetooth or 2.4Ghz RC frequencies, or an app. Later waifus will have audio and video processing so I'm hoping I can offload that to a desktop computer.

I'm just sharing this infodump since I hope even though our paths may be plagued by a thousand PLA carcasses, there is a clear vision of what progress should look like, for me at least.
>13 and 14 will dress up like pic related.
<robowaifu qt tankgrill enforcers

As for robot shops closing, it's neither unusual nor surprising for a nascent industry to have churn. One great thing that we have on our side is that the Wright Brothers/Henry Ford style home garage operations are a real possibility [for this industry atm], as you and others are proving. We certainly don't want the botnets to be the only possibility for anons to turn to in the future though, so we have to stay focused. Fortunately we still have a few years before they manage to make it illegal to create your own waifu but have to use theirs instead. But it's definitely a race. If we make positive progress first and it becomes widely popular among hobbyists the world over, then we may be able to forestall such a move by the botnet vendors such as Jewgle & Amazon.

There are some command protocol works already out there, have you had a look at any of them?

Keep up the good work anon!

Sorry for off-topic OP
Thanks man. It is indeed the only industry I can think of that is truly still in the garage phase. Actual laws regulating humanoid robots don't exist yet outside of science fiction stories, so this is still a window of opportunity before corporate takes over.

>There are some command protocol works already out there, have you had a look at any of them?

I'm taking a look at various arduino smartcar bluetooth controller apps for Android, will try to find some common string between them so you can just download any one of them to control my bots.
>so this is still a window of opportunity before (((corporate))) takes over.
Exactly. But no one should just relax because there's a gap for now, and assume they just won't try to stop it. They will. We just have to move faster so there will simply be far too broad access to basic robowaifus before they can stonewall it.
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My biggest failure in general was getting distracted and frustrated because of problems like computer failures and all kinds of things aka life. I need to avoid mind blockades, like doing sth only when I archived something else first (which doesn't happen then). Good example might be, not buying a 3d printer until one has learned CAD. Then not being motivated enough to learn it, which wouldn't be a problem if one had bought the printer first. My biggest failure in so far in regard to outcome was overestimating the power of magnets, and therefore believing I could build a simple muscle based on that. I wanted to have piece of metal attached to a nylon string, getting dragged through a flexible tube. Somehow with magnets lined up outside of the muscle. I found out small pieces of metal cant hold much, and a bit of plastic isolates it quite good. 🤦🏼‍♂️ The other failure maybe isn't one, it's rather a bit of prototyping and testing. Though it failed in so far as I got stuck. Since I couldn't wait for my printer, which I want to buy after I moved, I started prototyping molds for thighs with pulpe aka pappmache and plaster (pics realated). However, I would've needed liquid foam at some point, but I had difficulties to buy that where I live, so I stopped working on it. The approach isn't really good anyways, bc I wont be able to mirror two legs to make them fit together. I know that, though I think it might motivate me to look into building joints, using electronics to move them a bit and so on.... Better than doing nothing!
>>4429 >Better than doing nothing! 1000% better, at least! :^) Actually, laying up laminates (like pappmache) is probably a good idea fundamentally. I'd suggest something like wheat paste for the adhesive instead of plaster to keep the result lighter weight.
>>4430 In that case here it's about a mold not an exoskeleton, weight doesn't matter. But you're right about us needing to use a lot of layers for the outside. It's because sensors and cooling tubes.
>>4435 >But you're right about us needing to use a lot of layers >a lot I'm not sure I would put it just that way, after all from the ME aspect, lightweight is king. It's just that laminar structures can offer improved strength to weight ratios. For example, plywood is an a good type of laminar sheet with good properties (though generally probably too heavy for our specific use-case).
>>4437 We all have different approaches and varying priorities, so general assumtions don't work. I want to put in quite powerful motors and muscles, but bipedal walking isn't so important at the beginning. The first ones only need to bend their knees, spread their legs, and at some point turn around in bed on their own, ... The legs shouldn't be to light, bc this would feel strange if I would holding them up. Later iteration would be walking on all fours to the bathroom.
I spent all of yesterday trying to get a 3D model to use as a basis to start planning, and all of today trying to start it putting it together. Not only is my computer a potato and declines to work with the more complex meshes that I try to throw at it, but even taking a full minute between movement and actions I get crashes. Not that the crashes matter though, honestly I have no idea how to put the pieces of this mesh together. I've been trying to figure out which face is the top face, the bottom face, and even after going through a few hours of lectures and tutorials I am still no closer than I was a couple days ago despite the work put in. I think I have a fix, but I can't be sure. I have a spare computer I got for cheap when a buddy of mine upgraded with a better gpu, which should help, but also just making an approximated model by hand instead of trying to assemble an accurate model so that I may refine it as I go could make things run far smoother. Hard to tell though. A bit of a pain to have wasted a couple days though, I will admit.
>>4537 Fuck it, I'm going analog. Clay, physical references, a drawing board, and hand calculations only for the physical design. I'm not going to mass manufacture, so there is no need for computer designs. Clay and paper are far easier to manipulate and measure with.
>>4537 What program did you try?
>>4539 Fusion 360. Solid tool, but the files I used were fairly bulky, my computer is a potato, and I am not as experienced as I maybe should be, so I don't blame the program itself. I've had far more sculpting experience than CAD experience, and it seems to be working better, although not by much. At the very least, it is making me rethink my approach.
I looked into it myself, without trying, since I need to rebuild my laptop, only have a Raspi and tablet working right now, and these would really be to weak: >>4549
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I'm working on a similar spine than posted here: >>4563. It's just meant to be a test and early prototype, till I'll get my printer. The plastic is the lid/cap from water containers, I have some springs and two types of little spheres. Also some metal parts where a little fiber or line can run through, but I don't know their name. I can tell so far that it's annoying to build. I put these little metal parts into some plastic hole and in between the end of a spring so they would hold the spring in place. Sometimes it works, sometimes I just won't get these into the spring. Then again, they won't hold the spring well, but thery are to short to put a washer in. Also, it's generally just trial and error. I want to get the idea how a spine could work.
>>4653 That sounds great Anon, keep experimenting. I like that you are using spare parts laying around to test things out with. Doing that will help us all understand how you would go about creating a robowaifu inexpensively. Don't be too annoyed at difficulties, just be patient and methodical. Remember that in a real factory situation (even a tiny factory of your own devising) manufacturing almost always spends the resources needed to create helpful rigs that help assemble/manufacture things. Be thinking about some kinds of rigs that might help you in the future as you're figuring out how to assemble parts. >I want to get the idea how a spine could work. That's both a neat goal, and an important topic. We won't be able to have good robowaifus without having good spines Anon, so work hard at it! Thanks for sharing this here with us Anon.
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I needed to a bit of a break from my software project(s). But I'm still on it! I finally started to get more serious about CAD, software will have to wait a little bit. I already tried out some stuff before, like beginning an eyeball were I wanted to put a camholder and magnets inside, also flexible lips out of TPU, possibly at some point an airmuscle with silicone rubber on the outside. I learned that I can import pictures into Solvespace to use it as pattern, which is exactly what I wanted. I used Avril Lavinge as pattern. However, I didn't get very far due lack of knowledge on how to use Solvespace and also made some conceptual mistakes. Now I finally got through some tutorials, being in a more relaxed mood and started to design a holder and lever for some small servo (PM35S) which I have for testing and maybe for an elbow. I also had the idea of using washers in a little case as holder for some axis. The holder can have an arm going into the disc which can rotate freely. It's a cheap and thin axle bearing if one has no ball bearing or there's no space for it. So, that's not much, but still something. I will post more about those projects in the correct threads as soon as I archived something more. Doing this feels often better than working on software, since it's easier to have some result and hold it in my hands (after printing), even if something is wrong with it.
>>8034 Glad to see you're still going strong Anon! It's good to take a break from time to time and focus on other things. 'Variety is the spice of life' they say. I hope you succeed at the designs. I really like the fact you're trying to find extremely economical approaches to designs like the washer-as-axle-bearing. This sort of rigging is what will enable many more men eventually to find ways to create robowaifus on their own. I suppose if you put some kind of seal enclosure around the whole thing, then you could put machine grease into it for durability. I hope you come up with lots of new designs this year Anon! :^)
>>8034 Keep up the good work Anon. >>8038
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I'm preparing a print for a very simple forearm right now. Didn't start printing yet, we'll see how it's going. It's TPU, which is not easy to print. I want to build at least something, ASAP, to demonstrate some progress. However, this is not a forearm with motors or muscles, but a soft TPU+foam placeholder, which is supposed to be connected to a elbow with a little servo. More a visual improvement than anything else. From there, we'll see how it goes. I also started to design other parts, but it's not easy. The arms and legs of a human are not round, but more complex shaped, which makes it more difficult to get it right. Also, I need not only molds or some TPU enclosure, but also air muscles and pseudo muscles to fill the inside of the body.
>>8350 Good on you anon! The more functional parts such as joints, hinges, levers and mounting plates that we have, the better! Even placeholder CAD for servos and servo horns are useful and can save other designers time when they are planning their robowaifu parts.
>>8350 Oh cool. Glad to see some new design progress Anon. Yeah, I've often thought about all the void spaces within a robowaifu's outer shells and how can we utilize that volume.
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>>8350 I delayed my TPU forearm print bc my print didn't stick to the bed. I had gluestick on it, but heated the bed after the first layer. I guess this was the mistake, the PVA disintegrated. I will try again with a advanced design in a while. I need to come up with a solution for designing arm and leg shapes in CAD. The print would have cost 7-8€ and I want to have a better design before I drop so much fillament into it.
>>8371 After the fail with TPU I wanted to make a simpler print with a outer shell out of more expensive PLA and a inner core of cheaper PLA. To make the core bigger and the shell thinner, I changed the design. I tried different variants, but Solvespace always exports a mesh with a strange error. Maybe a bug, idk. Big F. Whatever, I might print the original model, still with a PLA core instead of foam, but bigger outer shell then I would like to have. Or, since I'm working on improving those designs anyways, maybe I won't print any of it now. I like printing parts, but it has to make some sense.
>>8372 That error looks like some kind of pole (the 3D mesh technical term). Any chance you might have some kind of vertices begin collapsed down together in your model?
>>8373 >being collapsed down*
>>8373 It's not a sculpt and I don't know much about vertices. It's rendered from a CAD file. It actually doesn't show up as error in a MeshLab (non-manfold edges).
>>8350 I'm still on it. Since I have these little PM35S motors, but they have no means to hold a arm, I have to work something out. Like mentioned here >>5034 I was on my way to build a whole construction around it, to hold the motor in the middle. I stopped this approach for now, and work on a disk attached to the motor and holding the lever which is attached to a rather complex washer. Note: Don't buy motors without mount for some lever or arm. >>8372 For now I only printed out the simplest version of the forearm shell in some cheap PLA, which is quite heavy bc I used to many perimeters. I might only use this as as stand to put hands on top of it and have them moving for tests. It's more or less just like a heavy vase with two perimeters, but without bottom. >>thighs I want to try now, to build legs and arms out of 4-8 parts, the problem is to align them. Not sure if that will ever succeed. Maybe it will be enough to print some structure out of TPU to hold other parts inside and will need some smoothing on the outside by adding fabric and silicone rubber.
>>8456 That's an interesting looking design Anon. I hope you get everything sorted to your satisfaction. One thing I'm learning for myself is that I have to start out on something literally as simple as I can, b/c that's usually just about as hard as I can successfully manage on my own. Once I solve one small step, then I usually back up and look at what I've managed to do that time and that often gives me guidance on where to go next. So, I just make dozens and dozens of little steps like that until I succeed. Takes some patience, but it usually works for me as long as I just don't quit. Keep at it Anon! :^)
>>8460 >just don't quit I won't. Though, I might soon be busy for more than one month with moving. I'll try to still do something in that time. After that, I'll have more space to set up workplaces for different areas which we need to cover. Doing CAD mostly works fine while listening to podcasts, talks on YouTube or audiobooks.
>>8464 I hope you have a successful move Anon. I should be moving myself in the next couple of months as well. I'm trying to get better at programming, and also thinking about our operating system/computer hardware choices to help make robowaifus safe, secure, and reliable. It's a big area to understand it all! Anyway, everyone helping everyone else here goes a long way towards us all moving forward together.
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>>8456 Just some upgrade: I managed to find a solution how to build a holder for that motor, but it took me a lot of trying around. Felt quite fine working on it, for a while, but towards the end I started to get more and more distracted by other things. Probably bc I had enough of it. I also assumed that this cheap little motor is going to work, but didn't look into it. Turned out, if it's going to work I'll need a special driver or setup with a H-Bridge. Whatever, I'm currently focused on learning and training CAD, so there's no rush. It was more about learning how to solve a problem and generally about dealing with that specific one. Turned out, I wasn't thinking enough about it before getting started. After trying complex designs, a rather simple solution works now. I'll upload the file soon, maybe later today.
>>8561 Actually, your persistence is laudable Anon. Just keep at it. >After trying complex designs, a rather simple solution works now. This isn't uncommon. Many designs can only achieve simplicity after the complex route has revealed the elegant route. Not only is this true in design and engineering, but in things like writing as well. There's a well-known quote written by the French mathematician and philosopher Blaise Pascal: >"I have made this longer than usual because I have not had time to make it shorter." Pretty much every piece of software I've ever cared enough about to spend enough time to pay attention to it's structural design has been through this basic process.
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>>8561 I linked the upload here, in the skeleton thread >>8584 >>8568 Thanks for your encouraging words. But this was me scolding myself for not using my time better. I could do more. Next project: Early hamcat_mqq-style ball-joints. One thing I ask myself while starting: How round do these ball-joints need to be. Can they be a bit flat on one side? Pear-shape to reduce some material on the other side?
>>8585 Thanks for the pic of the hamcat_mqq Anon. That looks remarkably like the simplistic armature design I myself have been working towards. I may try to integrate your fittings/joints design in my own efforts. Thanks for your work.
>>8588 >hamcat_mqq more of his stuff is in the projects dump: >>7707
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>>8585 I was doing ball-joints today. Print-in-place was a difficulty, this means printing a mechanism at once, which then needs to break some supports of and being moveable. I got it working, by adding a hole to the bottom, so I could use a screwdriver to disconnect it from the ground of the cup. However, I'm still able to get the ball out and in again, which makes it pointless. It will most likely be better to print the parts separately, which makes them print cleaner. Currently it doesn't move smoothly.
>>8661 That's a neat idea about how to do mechanisms though. Just keep trying until you perfect things Anon. You get there! :^)
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>>8662 I think I have to be careful with the print-in-place idea. It's not necessary and trying to make it work is eating most of my time with every prototype I design. Printing parts separate also means they are cleaner and therefore run smoother. Though, it's probably so, that we'll need to add something to the outer shell of the sphere (ball) anyways, to make it smooth when moving but also having more grip. I was thinking about silicone rubber, but not sure yet. However, this is one more reason to print the parts separate.
>>8690 I like the way you're coloring/rendering those parts in the diagrams. Makes them easier to understand actually.
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>>8698 Yeah, but I should have converted the last pic into a jpeg, 5MB is obscene, the jpeg has 200K or so. These pics are the actual models, just with everything hidden. They look like that when I'm working on them, just with additional lines and points. The pic here shows the difference in quality between print-in-place (middle) and separated (bottom). Don't mind the little gap in the bottom sphere, I'm printing with 15% infill. Also, the bottom sphere is bigger, bc I wanted to test if I would still get it into the cup if I increase the size of the sphere 10% (Answer: No).
>>8699 Actually to my eye, it seems you're already coming up with nice shapes. Put something like that through a resin printer and you would basically have production-ready parts ready to ship off to manufacturing. You're making great progress Anon. Please continue doing so! :^)
>>8699 BTW, Anon posted a video about an android leg that uses a big ball-and-socket joint for an ankle. >>8704
I was playing around with the idea of re-creating the mechanism of the InMoov neck accuator after my posting here >>8718. I didn't look at the details, just trying it on my own. The first part (pic 1) wasn't printable, even with these supports. It's to steep. Number two also wasn't that great. Don't know how to describe it well: The outer rails were too thin, since it's only the edges that turn. I played around with some changes, but nothing made sense. I was able to print it, but it was quite dirty. The third try was more similar to the original design. First I got it wrong again, but I'm sure V3 would work. I didn't really try to print it yet, but it looks the same than the original and I printed that already. The details matter, the outer lines have to be curvy. You can see it in the part I marked. Picture number four is the shoulder part for the doll >>8585. I didn't print it yet and it will need some adjustments till it's really finished. I partially disassembled my printer to exchange the heatbrake, so let's hope I won't break anything.
>>8760 This is actually really informative watching your progress and following your thinking Anon. You're already able to design a wide array of parts, it's pretty encouraging to see.

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