3D Printable modules for building modular robots
REPYZ modules are an evolution of the REPY modules. The new fetures are:
-
Simplified structure. The body is smaller than in previous versions, thanks to the new sevo lower cover, with a fake shaft
-
More robust and compact
-
It is simmetric (like REPY v2). The caterpillar robots can move face up or face down
-
PRO Version. There are two flavors of repyz modules: standar and PRO. The later includes a 608 bearing on the fake shaft for making the rotation very smooth and with no clearance.
More information can be found on this link (in Spanish):
http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_REPYZ
https://plus.google.com/u/0/photos/109138697406392447933/albums/5878857037837654529
An example of the locomotion of a pith-pitch minimal configuration, composed of two repyz modules (standar version). Video presented by my little daughter Alicia :-)
http://www.youtube.com/watch?v=hIY0V6fK7iY
-
The 3 printed parts: body, head and servo lower cover (There are two differents heads, one for the standard and the other for the PRO)
-
Servo Futaba 3003
-
1 M8 washer
-
1 608 bearing (optional, only for the pro version)
-
4 M3 nuts
-
4 M3x10mm bolts
-
2 M2x12mm bolts (provided with the servo)
Assembly process:
https://plus.google.com/u/0/photos/109138697406392447933/albums/5884847018420290209
For moving the module all types of electronics can be used. The only requirement is the generation of a PWM signal.
Examples of electronics:
- Arduino
- Skymega board: http://www.thingiverse.com/thing:14197 -This is the board I am using because it fits perfectly on the REPYZ module
For generating the locomotion of snake robots, I am using sinusoidal generators. More information can be found on my phd dissertation:
http://www.iearobotics.com/wiki/index.php?title=Juan_Gonzalez:PhD_Thesis
I have implemented the ardusnake library (for arduino and arudino compatible boards). It is very simple to use and understand:
https://github.com/Obijuan/ArduSnake
http://www.thingiverse.com/thing:21401
- Y1 modules: http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_Y1
- MY1 modules: http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_MY
- REPY v1: http://www.thingiverse.com/thing:688
- REPY v1.1: http://www.thingiverse.com/thing:13442
- REPY v2: http://www.dsquaredrobotics.com/wiki/index.php?title=REPY-2.0
- Juan Gonzalez-Gomez (Obijuan)
-
David Estevez: Is the author of the Repy modules v2. Repyz were inspired in Repy v2: http://www.dsquaredrobotics.com/wiki/index.php?title=REPY-2.0
-
Andres Prieto-Moreno. Is the author of the MY1 modules, in which the repyz are also inspired. He also suggested me the idea of including a lower servo cover with ears for the servos. Because of these ears, the body of the module has been dramatically simplified.
-
Gocha is the cat of Carlos Garcia Saura. It is the one that appears on the REPYZ logo
REPYZ modules are released under the GPL license