The Robotroller consists of two types of parts. The first type is custom parts designed in CAD software (Autodesk Fusion) that have to be manufactured. We designed these parts so they can be printed on a consumer 3D printer, like the Bambu Lab P1S, using an inexpensive filament, such as PLA. The second type is parts that are commercially available. These include screws, bearings, servos, threaded inserts, and electronics. The fully assembled Robotroller is shown below.
The printed parts can be printed at a home 3D printer or a commercial printer. We have tested versions printed in PLA on a Bambu Lab P1S and versions printed in Nylon 12 from a commercial 3D printer (JLCPCB) and found both to be reliable. For parts to buy, we provide direct links to suppliers in Canada and the US to make sourcing easy. Once you have all the parts, you can follow the assembly guide below to build the Robotroller.
Assembly guide
Robotroller Assembly Guide
Use arrow keys, or tap or click either side of the slide
Overview
- 3D Printing the components.
- Adding threaded inserts to the components.
- Assembling individual components.
- Attaching components to the baseplate.
- Wiring the components.
- Testing the Robotroller.
1. 3D Printing the components.
Most components can be printed without support. We recommend a high infill to get stronger parts. We used 85% with either grid or cuboid infill pattern in our testing. The parts that need support are the following:
- Joystick holder
- Shoulder socket
- Fire finger holder
We used tree supports that originated from the build plate. A threshold angle of 35 degrees on Bambu Studio worked well. The stl files are available here.
2. Adding threaded inserts to the components.
The threaded inserts can be heat-set using a soldering iron. The following slides show all the components that need the threaded inserts, and the positions and orientations of the threaded inserts.
Not all holes in the baseplate need threaded inserts. Some are for future extension of the platform, such as for attaching the camera to the baseplate. The next slide shows the baseplate holes that need threaded inserts for the basic build.
2. Adding threaded inserts to the components.
2.1 Add threaded inserts to the baseplate.
2. Adding threaded inserts to the components.
2.2 Add threaded inserts to the Shoulders (2x)
2. Adding threaded inserts to the components.
2.3 Add threaded inserts to the Shoulder Joints (2x)
2. Adding threaded inserts to the components.
2.4 Add threaded inserts to the Elbow-to-Finger components (2x)
2. Adding threaded inserts to the components.
2.5 Add threaded inserts to the Joystick Attachment
2. Adding threaded inserts to the components.
2.6 Add threaded inserts to the Motor Attachments (2x)
2. Adding threaded inserts to the components.
2.7 Add threaded inserts to the Corner Pieces (4x)
2.7a Top Left Corner
2. Adding threaded inserts to the components.
2.7 Add threaded inserts to the Corner Pieces (4x)
2.7b Top Right Corner
2. Adding threaded inserts to the components.
2.7 Add threaded inserts to the Corner Pieces (4x)
2.7c Bottom Left Corner
2. Adding threaded inserts to the components.
2.7 Add threaded inserts to the Corner Pieces (4x)
2.7d Bottom Right Corner
3. Assembling Individual Components
Once the threaded inserts are added to the components, they can be assembled. The following slides show the assembly steps. We recommend using a thread-locking compound on all screws so they don't loosen over time. We used Loctite 243 Threadlocker in our builds.
If you bought the replacement metal horns, then you should attach them to the motors before proceeding with the assembly.
3. Assembling Individual Components
3.1 Add bearings to the Shoulders (2x)
3. Assembling Individual Components
3.2 Add bearings to the Joystick Attachment
3. Assembling Individual Components
3.3 Add bearings to Elbow to Finger components (2x)
3. Assembling Individual Components
3.4 Attach the Dynamixels (2x)
3. Assembling Individual Components
3.5 Complete the Arms (2x)
3. Assembling Individual Components
3.6a Attach the Fire Button Servo
3. Assembling Individual Components
3.6b Attach the Fire Finger to the Servo
4. Attaching Components to the Baseplate
Components assembled in the previous steps are now attached to the baseplate in the following order, as shown on the following slides. Once again, we recommend using a thread-locking compound on all screws.
4. Attaching Components to the Baseplate
4.1 Attach the Corner 1 to the Baseplate
4. Attaching Components to the Baseplate
4.2 Attach the Corner 2 to the Baseplate
4. Attaching Components to the Baseplate
4.3 Attach the Corner 3 to the Baseplate
4. Attaching Components to the Baseplate
4.4 Attach the Corner 4 to the Baseplate
4. Attaching Components to the Baseplate
4.5 Attach the CX40+ Controller to the Baseplate
4. Attaching Components to the Baseplate
4.6 Attach the Left-Right Arm to the Baseplate
4. Attaching Components to the Baseplate
4.7 Attach the Up-Down Arm to the Baseplate
4. Attaching Components to the Baseplate
4.8 Attach the Fire Finger component to the Baseplate
4. Attaching Components to the Baseplate
4.9 Attach the Waveshare PCB to the Baseplate
5. Wiring the Components
Connect the Dynamixel servos and Waveshare PCB as shown on the next slide. The connectors that ship with the Dynamixels do not fit the Waveshare PCB. You can break the outer edge of the connector on the PCB using a flat screwdriver to make it compatible. Pay attention to the polarity of the wires on the PCB.
5. Wiring the Components
Wiring Diagram 1
Wiring Diagram 2
Wiring Diagram 3
6. Testing the Robotroller
For setup and testing instructions, visit the official setup guide on GitHub .