Animatronic C-3PO

[TK-326]

Mechanics - Torso

Working on a complete rebuild of the torso mechanism. The big universal joint wasn’t going to do what I needed.

 

[TK-326]

Mechanics - Torso Joint Rebuild Complete

Here’s the rebuilt 2-axis torso mechanism. Allows about 10 degrees pitch forward/back and tilt left/right movement. Very solid and smooth motion. Now I just need to fit two more linear actuators in there.

 

[TK-326]

Mechanics - Neckanism V2

Closeups of the beefier V2 of the 3 DOF neck mechanism. I repurposed the 1/4-scale servo from the old torso pivot for the new neck pivot.

 

[baptizer]

wow! This is next-level awesomeness! And complexity!

 

[Drew Baker]

Going with the lightweight, one-piece hands for Celebration. It’s more Star Tours accurate anyway. Rebuilt the 2-axis wrist mechanisms and added higher power servos.

Where will you have this at Celebration? I'll have to steal time out of my booth to check it out!

 

[TK-326]

He’ll be the greeter in the Droid Builders room. First droid you pass when you enter.

 

[CFT]

This is incredible...the abilities displayed in this group never ceases to amaze me.

 

[RoCKo]

This is incredible...the abilities displayed in this group never ceases to amaze me.

Quoted for truth!

That is so amazing, I’m following this with great interest!
AMAZING!

 

[R Three]

He’ll be the greeter in the Droid Builders room. First droid you pass when you enter.

Can’t wait to see this.

 

[JediMichael]

This is quite the build. Love it. Any idea how much its cost so far?
Hollywood makes something like this and they blow half the movies budget on it.....then it doesn't even work right.

 

[TK-326]

This is quite the build. Love it. Any idea how much its cost so far?
Hollywood makes something like this and they blow half the movies budget on it.....then it doesn't even work right.

I'm tracking everything but I don't want to look at totals until I'm done.

 

[Castor Dioscuri]

Holy hell! Celebration is worth the price of admission just to see your greeter droid! Well done!

 

[stuwin]

This is so brilliant!

 

[TK-326]

Mechanics

All the body shell parts are off the mech and out being primed and painted. Now I'm working on the wiring harnesses. So many connections.

 

[Yodamann]

This is an amazing project to watch unfold! Thanks for sharing

 

[Metz]

Holy crap this is next level amazing! Fantastic work.

 

[TK-326]

Arm Motion Test

Running low-speed tests of simultaneous 3-axis arm movements on the C-3PO mech to get a feel for the control software and also to adjust the range of motion for the individual motors.

This is after extensive tuning of the PID settings for all 8 gearmotors and setting upper and lower position limits using their encoder values. The Roboclaw controllers are now running in RC mode, getting their PWM signals from a Pololu Maestro, which is in turn taking its commands from the VSA software.

This is the first time I’ve ever done anything on this level of sophistication with motion control. It’s intoxicating.

 

[stuwin]

Wow, are you really going to produce a guide to building this? It'll take longer that the build itself
Amazing!

 

[Fett_Ish]

So cool!

 

[TK-326]

Electronics - Motion Control and Wire Management

Mounting the motor controllers. Each Roboclaw controls 2 of the 8 gearmotors. Servos are controlled separately. Each arm has 3 gearmotors and two servos. The torso has 1 servo and two gearmotors, and the neck has 3 servos.