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Acrobot Workshop Bot

A small, simple but expressive 4-joint robot acrobat that can be animated using Bottango.

  • Other
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @hapiel (opens in a new tab), from github.com/hapiel/workshop_bot (opens in a new tab). Pinned to commit 9a2e5f4 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
CC-BY-4.0 (opens in a new tab)
Software license
CC-BY-4.0 (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

Acrobot Workshop Bot, photo from its repository
Photo:@hapiel (opens in a new tab)CC-BY-4.0source file (opens in a new tab)

3D preview converted from github.com/hapiel/workshop_bot at 9a2e5f4, under CC-BY-4.0. View the original files from GitHub (28.3 MB) (opens in a new tab)

Degrees of freedom
4

What it can do

Written by Robotheca from the project's documents.

  • Acts as a small robot acrobat with 4 joints that can be animated.
  • Animated using the Bottango software on a computer.
  • Driven wirelessly over ESP-NOW from a dongle connected to the computer.
  • Typically used by 2 to 3 participants per robot kit in a workshop.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 13D print the body halves in PLA
  2. 23D print the shoulders, hips, hands and feet in TPU98A
  3. 3Assemble the servo motors
  4. 4Solder the electronics on a perfboard or fabricated PCB
  5. 5Mount the ESP32 and battery holder in the case
  6. 6Cut and attach the aluminium tubes for arms and legs
  7. 7Flash the BottangoArduinoDriver to the robot and the ESP-NOW dongle
  8. 8Close the case with M3 bolts and nuts

The guide appears here as you scroll.

Guide by @hapiel (README.md), under CC-BY-4.0.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32 on the robot, recommended as the TTGO-T18 with a battery holder and button.
  • Standard ESP32 dongle, such as a Pico-d4, used as the ESP-NOW parent.
  • Servo motors, ideally 6Kg 300 degree clutch servos.
  • 18650 battery cell held in the battery holder.
  • Servo board PCB, with Gerber files and KiCad schematic and layout in the repository.

Connections

  • Electronics can be soldered together on a perfboard or on a fabricated PCB.
  • Two small screws hold the ESP32 in place.
  • The servo board is designed in KiCad and its Gerber files are provided for manufacturing.