Animatronic C-3PO
- Thread starter TK-326
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- animatronic c-3po droid
animator
Sr Member
Congratulations! You earned that! This is the best project ever.
I learned a lot at Star Wars Celebration. Now it's time to apply that knowledge and get to work on upgrades.
First off, I'm replacing all the ServoCity and GoBilda hobby-level linear actuators (left) with pro-level units from @progressive__automations (right).
First off, I'm replacing all the ServoCity and GoBilda hobby-level linear actuators (left) with pro-level units from @progressive__automations (right).
Here’s a short motion test with the new @progressive__automations linear actuators installed for torso pitch (front to back) and tilt (side to side). These new actuators are so much more powerful, quieter, and smoother, and will allow for greater control and realistic movement.
Mechanics and Servos - Shoulder Joint V2
I made some progress on the V2 shoulder joint these past few weeks. I'm replacing all of the arm and shoulder gearmotors and linear actuators with heavy duty robot servos. Every motion axis will now move via servo, making control and programming much simpler overall. The 9 major axes (shoulders, biceps, elbows, torso) will have new heavy duty servos, and the 7 minor axes (neck and wrists) will retain their smaller standard size servos.
I made some progress on the V2 shoulder joint these past few weeks. I'm replacing all of the arm and shoulder gearmotors and linear actuators with heavy duty robot servos. Every motion axis will now move via servo, making control and programming much simpler overall. The 9 major axes (shoulders, biceps, elbows, torso) will have new heavy duty servos, and the 7 minor axes (neck and wrists) will retain their smaller standard size servos.
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Mechanics and Motion - Right Arm V2 Servo Test
Here's the first test with coordinated movement of all 5 servo axes of the V2 right arm mechanism (shoulder, bicep, elbow, wrist pivot, wrist tilt). I removed the V1 gearmotors and linear actuators and replaced them with servos for better control, smoother motion, and improved positioning repeatability.
Now to work on compliance and dampen out all the bounce. Several things to try: stiffen the elbow joint, add another internal brace or maybe a spring/damper, work on the accel/decel ramps in the motion profile.
Here's the first test with coordinated movement of all 5 servo axes of the V2 right arm mechanism (shoulder, bicep, elbow, wrist pivot, wrist tilt). I removed the V1 gearmotors and linear actuators and replaced them with servos for better control, smoother motion, and improved positioning repeatability.
Now to work on compliance and dampen out all the bounce. Several things to try: stiffen the elbow joint, add another internal brace or maybe a spring/damper, work on the accel/decel ramps in the motion profile.
Frenzy1971
Well-Known Member
Wow! great work! Having pics with Anthony Daniels and your creation... I bet you have a frame waiting for one of those in your build area.
It's been a while since I've provided any updates. Since August of 2019 I've changed jobs and began working with a large animatronics company which has taken most of my time, but has also revealed so much new knowledge to me. As a result I've re-thought and re-designed most of the internals for this project, but stopped short of a complete do-over. I want to complete this project then start another animatronic figure using all of the things I've learned in the past year.
Here's a sample of motion using larger rotary servos and more powerful linear actuators with position feedback.
Here's a sample of motion using larger rotary servos and more powerful linear actuators with position feedback.
MrVolt
New Member
Found this build on youtube, but glad to find it documented here. Stunning work! Any hint as to what that next animatronic build will be?
Thanks for the kind words. I have a few ideas for the next one. Maybe Hondo Ohnaka, maybe another 3PO with more functions, maybe something else.
JediMichael
Master Member
Very awesome. With so many different threads and projects by everyone here, its SO easy to miss on something really awesome like this.
This type work is WAY over my head. Love it.
This type work is WAY over my head. Love it.
Cameron Ross
New Member
That motion looks incredible!!! Are you still using the same software?
Other than getting all the lady-droids all hot and bothered, does the 'penis-servo' control anything yet?
Seriously, though, it looks to rotate the waist, why did you choose to mount it that far below?
And what linear actuators did you decide to go with? Are they servo?
I like the two linear actuators controlling the body tilt, but what is the point of contact in the back on the 'spine'? Is it a ball joint or a large u-joint? Or is it just pivoting around 2 hinge-points?
Tell me everything sensei!!
Other than getting all the lady-droids all hot and bothered, does the 'penis-servo' control anything yet?
Seriously, though, it looks to rotate the waist, why did you choose to mount it that far below?
And what linear actuators did you decide to go with? Are they servo?
I like the two linear actuators controlling the body tilt, but what is the point of contact in the back on the 'spine'? Is it a ball joint or a large u-joint? Or is it just pivoting around 2 hinge-points?
Tell me everything sensei!!
Hey Cam!That motion looks incredible!!! Are you still using the same software?
Other than getting all the lady-droids all hot and bothered, does the 'penis-servo' control anything yet?
Seriously, though, it looks to rotate the waist, why did you choose to mount it that far below?
And what linear actuators did you decide to go with? Are they servo?
I like the two linear actuators controlling the body tilt, but what is the point of contact in the back on the 'spine'? Is it a ball joint or a large u-joint? Or is it just pivoting around 2 hinge-points?
Tell me everything sensei!!
For this test I was using the software that comes with the Pololu Maestro 18 channel servo controller board. I’m looking at several options for control software beyond the VSA I used last year, including writing my own.
I’ve moved the body turn servo up higher into the pelvis area since this video was shot.
The linears are Progressive Automations PA-14P with position feedback potentiometers. They are driven by PWM control boards cannibalized from extra Wingxine rotary servos.
The torso platform has a dual axis joint, one for each linear function. I’ll post detail photos later.
