PauliusLiekis Posted January 9, 2015 Share Posted January 9, 2015 I started working on T08A2 / R3000 spider tank from Ghost In The Shell movie a year ago. For those who haven't seen the movie - I would highly recommend, it's one of the best sci-fi anime movies. Scale 1:20 (roughly ) One of the biggest problems that I had from the start was non existence of blue prints, or actually anything that would be close to that. That's why scale is approximate So for "blueprints" I ended up with a few things: Screenshots from the movie Smaller resin model from ebay, which isn't proper quality Someone actually made a model from that kit on this forum: http://www.britmodeller.com/forums/index.php?/topic/2214-spider-tank-r-3000/page-3?hl=gits Someone made a 3D digital model, which I managed to aquire. It isn't very accurate, I would say it follows movie almost... So yeah, none of these were precise. Actually, even frames from the movie sometimes contradict itself. To make matters worse I wanted to make a model which could move, so following sizes and strength of mechanical components had to be taken into consideration as well... Initial idea was to make the shell from a styrofoam, but during last year I bought a 3D printer, which came very handy when making these complex shapes. 2 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 9, 2015 Author Share Posted January 9, 2015 This is almost complete frame (except "arms"/weapons) and close to complete electronics: Motion is controlled by RaspberryPi. Programming in C++, from scratch. It is controlled with PS3 joystick, but there are plan to have some autonomous functionality. 2 Link to comment Share on other sites More sharing options...
AngstROM Posted January 10, 2015 Share Posted January 10, 2015 Wow, this is a way off the beaten track! Should be an interesting project; I haven't seen the GITS movie but there is some amusing hardware in the franchise -Kotobukiya's Jigabachi is on my personal shopping list. Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 11, 2015 Author Share Posted January 11, 2015 Jigabachi is very nice too! Makes a lot of sense as RC helicopter ) I was actually looking what RC quadro/heli-copter I should make after I'm done with this, so Jigabachi is another nice option to consider. Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 22, 2015 Author Share Posted January 22, 2015 A little bit from inside the "brain" of the robot: The robot has full model of itself (in order to do correct simulation) and it's calculating where to make steps in such way that legs do not collide. 1 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 22, 2015 Author Share Posted January 22, 2015 (edited) A little bit from work progress: Model in 3dsMax: Model in 3D printing program: Model in 3D printing program (after slicing): Printed parts: Here should be some screenshots of work with sanding paper and acetone, because that's a big part of 3D printing, but about that some other time Assembly of electronics (2x servos, 1x laser): Hiding of cables inside the ammunition belt: Painting of base color and assembly: Edited January 22, 2015 by PauliusLiekis 1 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 27, 2015 Author Share Posted January 27, 2015 While other bake cookies for Xmas, I bake robot parts 2 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted January 27, 2015 Author Share Posted January 27, 2015 A short video from testing of arms: 1 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 2, 2015 Author Share Posted February 2, 2015 Wiring complete! 2x Raspberry Pi mirco computers (1st for motion control, 2nd for face tracking) 28x Servos (18 for legs, 4 for body, 6 for weapons) 1x Camera (for face tracking) 3x Servo drivers 2x Lasers (how can you have a robot wittout lazors??!!! ) 1x Distance sensor 1x PS3 controller ...and some armor: 2 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 7, 2015 Author Share Posted February 7, 2015 A little bit more of progress on the legs:3D printing: Polishing (i.e. reducing visibility of 3D printing slices by sand paper and acetone; acetone also gives strength): Assembling: Puttying (is that a word? ) (hiding marks of 3D printing even further): Painting: Result:"Suspension" of toes:I hope to finish main body and the I'll be able to attach the legs. I hope that everying will work once cables are connected (fingers crossed ) Otherwise I'll have to disassmeble (read: break) and redo some parts ) The original plan was to have ability to disassemblable, but that was too complicated, so I skipped that part 2 Link to comment Share on other sites More sharing options...
Madmonk Posted February 7, 2015 Share Posted February 7, 2015 Wow, that is just brilliant. Looking forward to seeing this progress. Cheers, Warren Link to comment Share on other sites More sharing options...
Pete in Lincs Posted February 7, 2015 Share Posted February 7, 2015 Puttying is indeed a word. And this build is amazing. Link to comment Share on other sites More sharing options...
AngstROM Posted February 7, 2015 Share Posted February 7, 2015 Puttying is indeed a word. And, for some of us, a lifestyle...! This is a totally brilliant project, many thanks for showing the progress. 2 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 7, 2015 Author Share Posted February 7, 2015 And, for some of us, a lifestyle...! ) Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 12, 2015 Author Share Posted February 12, 2015 One of the most complicated parts: it's time to cover main-body to which all legs are attached:The optimistic plan was to print it from a couple of parts: Problem #1: printer shifts all layers by ~1cm sometime during printing. It still did in a different place when printing flipped part, although the problem was smaller, so I just fixed it by slicing printed part into two and gluing it together in correct place:. I subdivided the remaining parts into smaller parts before printing in order to avoid same problems during print:Problem #2: I could not assemble robot using these parts - there was no way to fit sphere in the middle through other parts once everything is assembled. I had to cut it into smaller pieces and attach these parts separately.Problem #3: first design mistakes: my virtual project had no screws, so when I tried to fit to and bottom part they didn't fit where they belong (see the photo above), so there was a gap of 1cm between them. The main structure of the robot was done by hand without very precise engineering, so gaps between printed parts and servos were uneven. So even if I fixed design problem with the screws there was no I way to fix all gaps. I had to fallback to plan B: use of polystyrene and macroflex To make matters more fun I had to fit wires for 19 servos and plus a bunch of other wires More shaping, macroflex, shaping, making surface stronger using PVA glue, polishing, glue, polishing, putty, polishing, putty, polishing: Painting and result: 1 Link to comment Share on other sites More sharing options...
Pete in Lincs Posted February 13, 2015 Share Posted February 13, 2015 Still watching. Still amazed! Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 16, 2015 Author Share Posted February 16, 2015 Some photos from older printing:"Find 10 differences!" or "My printer misunderstood what I actually want to print (correct piece is on the left side)":"Tail":The part is to big to make it as a single print - the max print dimensions 20x20x20cm. It was chopped into 6 individual pieces. The printer was misbehaving again a bit, so 2 out of 6 parts had to be corrected after printing: Assembled: I covered the bottom piece with too much acetone, which resulted in bends... I had to cut it, screw to the frame, glue together and use a lot of putty afterwards There is still small gap between the top and bottom, so I added a screw to tighten them together after closing. The top and bottom are not glued together, since main electronics sits there and I need to service it occasionally or attach screen and keyboard when coding for it. Result: 3 Link to comment Share on other sites More sharing options...
S5 modeller Posted February 16, 2015 Share Posted February 16, 2015 Lovely work, and beautifully concstructed electronics. This build amazes me, can't get over how easy you make the 3d modelling and printing look. Matt Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 16, 2015 Author Share Posted February 16, 2015 Thank you, Matt. 3D printing is a piece of cake:) it's actually a no-brainer. Post-processing 3D prints is a bit harder, but mastering sanding paper and putty is not a big deal too. I messed up a few "tail" parts by getting wrong proportions for putty during this build. Waited for a week for it to dry out - it never did I had to scrape it off using knife, file and sanding paper. Ruined a few good files in the process. 3D modelling is a bit harder and I suck at it. I just use a couple of based operations and just build bit by bit. My brother (who is professional modeller) can do everything probably like 5x faster Link to comment Share on other sites More sharing options...
PauliusLiekis Posted February 24, 2015 Author Share Posted February 24, 2015 (edited) I found out that the old RaspberryPi (model is getting in a way of cables after assembling all printed parts, so I replaced it by newer model A+. Everything fits much better now: This is how it looked before the painting of details: Edited February 24, 2015 by PauliusLiekis 3 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted March 30, 2015 Author Share Posted March 30, 2015 I finally found time to fix electronics. Main change: I switched to power source with higher voltage (from 5V to 7.5V) - this gives more strength to the legs. One of the main problems was that it was having hard time standing on the legs after putting so much plastic on it. The robot weights ~5kg now. New and shiny power source: Of course RaspberryPi still needs 5V, so I had to put voltage stabiliser. That leads to some energy loses, but who cares when you're not planning to use batteries and you have 26A ) I also had to switch to shorter and thicker power cables for servos. And better plugs for those cables too. I'm glad I didn't have to pull any new cables through internals of the robot - it would be very hard to do at this point Although I still had to put a relay in the back and some thick cables. It doesn't look nice (when it's open), but it works! I found out that servos in arms take 6V max, so I had to put another voltage stabiliser Any change is never as easy as it seems at first sight:) 3 Link to comment Share on other sites More sharing options...
PauliusLiekis Posted April 13, 2015 Author Share Posted April 13, 2015 3Dprint.com did a story about my robot, yay! http://3dprint.com/54671/ghost-in-the-shell-robot-tank/ 1 Link to comment Share on other sites More sharing options...
Dazzio Posted April 14, 2015 Share Posted April 14, 2015 just read the article, you are doing very well PauliusLiekis on this model. I do like the Mecha in GitS, would like to build the V-22 looking thing one day. Oh yeah and a Tachikoma Looking forward to seeing more on this project. Kind Regards, Dazz Link to comment Share on other sites More sharing options...
PauliusLiekis Posted April 15, 2015 Author Share Posted April 15, 2015 just read the article, you are doing very well PauliusLiekis on this model. I do like the Mecha in GitS, would like to build the V-22 looking thing one day. Oh yeah and a Tachikoma Oh, tiltrotor is a nice one too Tachikoma is a hard one (i.e. to robotise it), because it uses ball joints for legs and has just 4 of them. And if you make any modifications true fans will notice it, because everyone is so familiar with it Anyway I would love to build a static model of it one day. 1 Link to comment Share on other sites More sharing options...
Rick_1138 Posted June 8, 2015 Share Posted June 8, 2015 Well....i go away for a year and come back to seeing the most awesome thing ever! Why can i not buy this and why has no company offered a resin casting. Amazing work sir, the electronics and 3d modelling alone would leave me a gibbering wreck.e Link to comment Share on other sites More sharing options...
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