one motor walker

8/13/2019 One Motor Walker

1/9

Robots Arduino Remote Control Software Apple 3D Printing CNC Kits Electronics See More

share what you make

Go

You Inbox (0) LogoutShortcuts

How to build the one motor walker! http://www.instructables.com/id/How-to-build-the-o...

1 de 9 21/10/12 23:11


2/9

153,521views

More RelatedMore Related

Related:jerome demers, bicore, walker, one motorwalker,jerome, robomaniac, robot, bot, robotics,beam

Related

Guides

More GuidesMore Guides

How to build the one motor walker!

F wFollow

Author: robomaniac (www.JeromeDemers.com)

I am a French Canadian that loves robots and embedded electronics. I work on all kinds ofcool projects, like a high-power electric push scooter controlled with an Arduino. Please visitm website fo...

258Followers

10 more

F wFollow

Author: robomaniac

Published: Jul 12, 2008

License: None (All Rights Reserved

258Followers

How to freeform the bicore (BEAM robotics )by robomaniac

How to modify a servomotor for continuousrotation ( One motor walkerrobot )by robomaniac

How to Build a Robot - TheBeetleBotby robomaniac

How to Build a Robot - TheBeetleBot v2 ( Revisited )by robomaniac

Solar Powered MiniballWannabeby Solarbotics

ROBOTS

SIMPLE BOTS

Welcome!

Here is Instructables on how to build a walker with only one motor! This design is baseon the principal of B.E.A.M robotics! Building simple and elegant robot inspired by insect.This robot was build back in 2000 and want to show you how to build it.

Beware this is a complex project!

This project incorporate two more instructablesHow to modify a servo motors.http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/How to make the bicore circuit.http://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/( I still did not learn with those truncated title :P )

Here are the 3 most important steps in this Instructables

step 1 -Read carefully!step 2 -Read again before asking questions, check the comments!step 3 -Did you read? if not goto step 1

PS- My instructables don't even contain a lot of text! Just pictures! :)

To be able to make this robot you need skills.You will need to solder electronics components.

Gareth Branwyn once contacted me to make a article in his book about my one motor walker.The chapter is online. This is worth reading in parallel while making the robot.http://solarbotics.com/products/abg/

Solarbotics made your life easy by making custom bundle for you!http://solarbotics.com/products/abgchw/I don't think there is a big gear is in there. Be careful.

If you never build a robot and want to tackle the one motor walker, I suggest you try the beetle robot.http://www.instructables.com/id/How-to-Build-a-Robot-The-BeetleBot-v2-Revisite/

Good luck!

Jerome

Don't forget to check my website to see my latest projects!www.JeromeDemers.com

Step 1 How to build the one motor walker!

Here is what you need to build this walker.

Items for the robot:

1 x Servo motor with servo horn1 x Terminal block1 x plastic gear ~2 inch1 x plastic servo horn1 x 2 feet of 8 to 10 gauge wire ( can use coat hanger wire or 10-gauge copper wire )1 x short piece plastic tubing ( can use the isolation from the 8-10 gauge wire )2 x AA or AAA battery holder

You could use the GM8 from solarboticshttp://www.solarbotics.com/products/gm8/

don't forget thishttp://www.solarbotics.com/products/gmw/

Items for the BICORE"

2 x .22 F monolithic capacitors1 x 100K to 10M resistor (we recommend 3.2M)

Print PDF Favorite Email Flag

Info Stats


2 de 9 21/10/12 23:11


3/9

1 x 74HCT240 integrated circuit (IC) 74AC240 will be better1 x 20-pin DIP IC socket1 x on/off toggle switch (smallest you can find)

the recommended tools for this project:1 x safety glasses!!1 x soldering iron1 x glue gun1 x wire strippers1 x side cutter1 x scissors, knife, x-acto, etc

I recommend you to take the time to read this entire instructable before starting. In every page I haveadded a lot of pictures, so don't forget to look.


This is main mechanical part you will need to make the robot.

You can find this sort of gear in VCR. Search garage sale or ask familly and friends.The DVD is already obsolete thank to the BluRay, imagine how obsolete is the VCR! :P

The gear in the picture is from a VCR.

If you are really lazy, you can buy it from therehttp://www.allelectronics.com/make-a-store/item/GR-5/SET-OF-5-GEARS-AND-BUSHINGS/-/1.html


Glue the servo horn to the plastic gear. Be sure both hole are aligned.

You can use traditional servo horn for this project. It will work.



3 de 9 21/10/12 23:11


4/9

Please visit this instructables to know how to modify a servo motor

http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/


Here you are building the pivot rod for the front gear.

I took a coathanger and bend it like the second picture.

You simply glue it in place.

You can use cooper wire to do the same thing. Look at step 8to know which wire to take.

Step 6 The front gear

Find a rigid plastic tubing that fit over the coat hanger. This tube is your pivot.

You can use the plastic that cover a electric wire. Maybe some 14/2 or 10/2 wire will do.Read step 8 to understand what does 14/2 mean.

Step 7 The gear assembly


4 de 9 21/10/12 23:11


5/9

This is a easy step. You insert the front gear into the metal rod.

Bend the rod so both gear touch. This is really important.

To secure the gear, look at the step 9. I use terminal block to hold it place.

Step 8 The legs

Find some 14 gauge cooper wire. It is normally call 14/2 or some will say 2/148 to 10 gauge will work too.

14 is the gauge ( the size, the diameter of the wire )

22 gauge is breadboard wire and gauge 0 is the size of your finger! 200 Amp

2 is the number of wire not counting the ground. You have a black and white wire.The black wire is the "hot" that carry the 120V

14/3 is the same with one more wire. The wire is red. You normally use this wire when you havea 3 way. Two switchs that control one light for example.

You can use a coat hanger to make the legs.I recommend adding to some heatshrink to the end of the led to have better grip on the floor.You can see on the video, the robot slips a little bit while walking on the table. There is no heatshrink onmy robot, only rigid plastic tube.

Step 9 The battery holder


5 de 9 21/10/12 23:11


6/9

I use AAA batter holder but AA will do the same. Glue them to the servo motor.We will hook are battery holder in serie to get higher voltage but with the same current.

Four battery of 1,5Volts will give 6V of power.

If you use rechargeable battery it will be 4,8Volts

To hold your gear in place, I have use some terminal block, I have remove the plastic and cut the terminal

in two using a saw. I simply put them on the shaft to hold the gear.

You can even use small tie-wrap instead of terminal block.

Step 10 The circuit

This is a the hard part if you never made electronics.

Please visit this instructables to make this circuithttp://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/

The schematic is really ugly and was made ~7 years ago with paint!The 74AC240 circuit come from www.beam-online.com

R1 = 1Meg Ohmthe capacitor are 0.22uF


Glue the circuit on top of the servo.

Hook up the motor to the circuit like the circuit.



6 de 9 21/10/12 23:11


7/9

Jul 17, 2012. 12:37 AM

Replyflag

1

Jul 6, 2012. 3:07 AM

Replyflag

May 12, 2012. 9:56 AM

Replyflag

Apr 4, 2012. 11:01 PM

Replyflag

Jan 2, 2012. 3:45 AM

Replyflag

Sep 26, 2011. 6:21 PM

Replyflag

Apr 17, 2009. 6:56 PM

Replyflag

10

Apr 17, 2009. 7:49 PM

Replyflag

Sep 25, 2011. 6:11 AM

Replyflag

Mar 19, 2010. 12:08 AM

Replyflag

Mar 9, 2010. 12:45 AM

Replyflag

Jun 11, 2009. 8:50 AM

Replyflag

10

Jun 11, 2009. 1:31 PM

Replyflag

Jun 15, 2009. 4:44 AM

Replyflag

10

Jun 15, 2009. 5:46 AM

Replyflag

Jun 20, 2009. 10:48 AM

Replyflag

Dec 21, 2009. 4:41 AM

Replyflag

Dec 23, 2009. 12:10 AM

154 comments Add Comment

1-40 of 154 next

james009 says:really interesting...

oldmechanic says:Amazing, if you could fit a camera and remote control, cool!

eagle inam says:hahahahahaha

ethiran says:I think it could be nice to be a striderbot but it is heavy.so awesome!

edwinzea says:Hey Robomaniac, thanks a lot for all the info and tutorials. I built my first one motor walker based onyours http://letsmakerobots.com/node/30546

EZ

fernando 1 says:massa vei eu queria fazer u desse :-)

Gliucoza says:does it has sensors?

robomaniac (author) says:nope, it does not have any sensor. It can not backup. I am working on a other version that couldurn and seek light.

rajat j says:hey i hav made a light following robot. :)

sid_bet says:hello jerome , Can i add another gear at the front to give it an extra pair of legs . will the torqueover the gear decrease even if i keep the gear ratio 1:1 ?

sid_bet says:i heard that u have made a better version , will it be coming here ? please post a photo of it .

sid_bet says:hello jerome , ummm.. there is a problem in my circuit the motor oscilates more on one side thanhe other i checked everything but nothing was wrong in the circuit any idea why ?

robomaniac (author) says:hello, that is normal due to the fact that it is a bicore. Mine does the same thing. That is why Ihave a mechanical stopper ( the nail ). You can change one capacitor and try again. You couldry to change both cap. Thanks Jerome

sid_bet says:HELLO JEROME , FINALLY GOT IT . I HAVE NAMED IT RAHIL . THANKS A LOT

robomaniac (author) says:cool! Thanks

sid_bet says:hello jerome , I took some pics of rahil - the one motor walker

shahbaazfalcon says:Hello sid..well i liked ur robot.

Also i have the same problem as u have that it tends to rotate to one side more than theother.so how did u manage to make it almost perfect synchronism.y

sid_bet says:hello , I think you might as well check for capacitor connections you cannot get itperfectly stable so the best idea is to uses a spring or rubber band as jerome told .ifound that it really helps. also found that a little left or right movement doesn't affectmuch of the walking gate. you can use a nail or a paperclip to stop excess movementmost beam bots have these springs attached to them both my robots use a springmechanism the last picture is of mark tilden's famous spyder which also has thesprings built in. to give suspension and a controlled step

You robot is finish.


7 de 9 21/10/12 23:11


8/9

Replyflag

1

Jul 6, 2012. 3:06 AM

Replyflag

Jun 20, 2009. 10:45 AM

Replyflag

10

Jun 20, 2009. 11:17 AM

Replyflag

Jun 15, 2011. 12:46 AM

Replyflag

Apr 25, 2011. 11:33 AM

Replyflag

Apr 11, 2011. 6:17 AM

Replyflag

Feb 6, 2011. 1:42 AM

Replyflag

9

Feb 25, 2011. 7:43 AM

Replyflag

Mar 17, 2011. 2:28 AM

Replyflag

9

Mar 17, 2011. 8:22 AM

Replyflag

Feb 2, 2011. 10:09 PM

Replyflag

9

Feb 3, 2011. 7:40 PM

Replyflag

Feb 4, 2011. 12:58 AM

Replyflag

9

Feb 4, 2011. 6:32 AM

Replyflag

Feb 24, 2011. 8:59 AM

Replyflag

9

Feb 25, 2011. 7:41 AM

Replyflag

Feb 26, 2011. 1:53 AM

Replyflag

1

Feb 9, 2011. 5:19 AM

Replyflag

Jan 27, 2011. 10:46 PM

Replyflag

Jan 17, 2011. 1:17 PM

Replyflag

Jan 17, 2011. 1:16 PM

Replyflag

Jan 12, 2011. 5:25 AM

oldmechanic says:The bottom pics are AWESOME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!Nice!

sid_bet says:hello again jerome , i came to know that these bicores can be hooked to one another tomake master/slave bicore pairs for a two motor walker problem being that they also go outof syncronisation .is their any way to fix it .also do microcores have the same problem

robomaniac (author) says:I like your robot! Microcore circuit then to do the same thing. You will see that everyBEAM walker have this sort of spring or mechanical stoper to prevent the legs to make afull circle. Even go perfect circuit will then to make a full circle after a while. The bestsolution is a spring so it looks more natural ans smooth. If you build a microre citcuit youwill need a motor driver because you can not connect motor directly to the 74AC14 chip,o much current. have fun. Jerome

xarad says:really cool!!! :-)

doctor strange says:I think this is so cool

rsharma-5 says:Hello...i'm Rohit...can you please tell me where can i find a bicore circuit...

101nemesis says:can sombody tell me where i can get thes 2 inch gear..checked many shops cldnt get it..is it available in any toy which i can dismantle and take from.hanks..

simpleboticssays:you can get lego gears or i would just go to some garage sales and try to scavange some from oldunk :)

101nemesis says:i have made the bicore and then connected it to the motor..and powered it but the motor is still rottatting in 1 direction..is it supposed to be like this or..does the bicore automaticaly after certain rotation change the direction of the motor to oppositedirection..hank you...what exxactly is the role of bicore....

simpleboticssays:he role of the bicore is to make the motor(s) oscillate to make the legs move back and forth in a

walking movement. i would double check the schematic and pictures/instructinos, hope thishelps and if any more trouble just comment again and i will help till you get it right :) !

101nemesis says:

hey guys.i got the ic 74hct240.What i was wondering is that does this ic require any sort of programming or is it pre [email protected]

simpleboticssays:no, you do not have to program the ic it is what it is, just use the capacitors, resistors, pin sockets,and the ic to build the bicore. thanks and if you like simple robots and beam robots check out myblog at www.simplebotics.blogspot.com:) !

101nemesis says:hanks alot !!I checked your blog out !! Models look amazing !!hanks fr your help again !! :)

simpleboticssays:no problem :D !

101nemesis says:hey do we have to modify the servo motor for continous rotation for this walker...?

simpleboticssays:yes you do :)

101nemesis says:but what i dont get it is..if we see the video it goes both clockwise nd anti..but if we modify wont it give continous..???

planetsideplayer14billion says:he battires look like cannons. it cousld be a turret with a little modifycation

gtprassad says:its nice.... i try for it..................

yohan2107 says:y como

yohan2107 says:i don't have a servo motor. Can I proceed with an ordinary DC motor.

9w197 says:my battries run out of power very quickly and i am 13 so plz i need ur help and i finished the beetlebot


8 de 9 21/10/12 23:11


9/9

3D Printing

Apple

Arduino

Art

Assistive TechAudio

Cell Phones

Clocks

CNC

Computers

El Wire

Electronics

Gadgets

Kits

Laptops

Lasers

LEDs

LinuxMicrocontrollers

Microsoft

Photography

Remote Control

Reuse

Robots

Science

Sensors

Soft Circuits

Software

Soldering

Speakers

SteampunkTools

USB

Websites

Wireless

Explore Channels in Technology Join Our Newsletter

Join over 800,000 Instructable fans whoreceive our DIY newsletter.

enter email

About

Mobile Site

Advertise

Press

ContactJobs

Legal

Help

Privacy Policy

About Us

Replyflag

1-40 of 154 next

Add Comment


9 de 9 21/10/12 23:11

one motor walker

Documents