1 (edited by PauliusLiekis 2015-02-16 22:53:27)

Topic: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

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.

http://nesnausk.org/onehalf/GITS/GITS-Screenshots.jpg

Scale 1:20 (roughly smile)

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 smile So for "blueprints" I ended up with a few things:

  • Screenshots from the movie

  • Smaller resin model from ebay, which isn't proper quality smile

  • Someone made a 3D model, which I managed to acquire. 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...

During last year I bought a 3D printer, which came very handy when making these complex shapes:)

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

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.

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

This is one of the better shots from when I got my wiring complete (yay!) including:

  • 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??!!! smile)

  • 1x Distance sensor

  • 1x PS3 controller

...and some armor:

http://nesnausk.org/onehalf/GITS/GITS-Electronics3.jpg

I'll follow up with more work-in-progress shots soon...

4 (edited by owenransen 2015-02-17 13:27:44)

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

PauliusLiekis wrote:

This is almost complete frame (except "arms"/weapons) and close to complete electronics.

Magic! smile You make me want to by a RasberryPi! And some motors. And some sensors...

Author of  PhotoToMesh, for making bas-reliefs and
lithophanes from your photos and images
http://www.ransen.com/PhotoToMesh

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

owenransen wrote:

Magic! smile You make me want to by a RasberryPi! And some motors. And some sensors...

And you should smile And some lasers. Do not ever forget lasers! smile

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

I have one raspi pi (vers B+ iI think) plus raspi pi 2 on the way. wink some motors I kinda have (steppers plus DC motors)

Fat kids are harder to kidnap!

7

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

madfalcon81 wrote:

I have one raspi pi (vers B+ iI think) plus raspi pi 2 on the way. wink some motors I kinda have (steppers plus DC motors)

Nice! What are you planning to build?

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

A little bit from work progress:

Model in 3dsMax:
http://nesnausk.org/onehalf/GITS/Gun/Gun01-3dsMax.jpg

Model in 3D printing program:
http://nesnausk.org/onehalf/GITS/Gun/Gun02-Slicing.jpg

Model in 3D printing program (after slicing):
http://nesnausk.org/onehalf/GITS/Gun/Gun03-Slicing.jpg

Printed parts:
http://nesnausk.org/onehalf/GITS/Gun/Gun04-3DPrinting.jpg

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 smile

Assembly of electronics (2x servos, 1x laser):
http://nesnausk.org/onehalf/GITS/Gun/Gun05-Electronics.jpg

Hiding of cables inside the ammunition belt:
http://nesnausk.org/onehalf/GITS/Gun/Gun06-Belt.jpg
http://nesnausk.org/onehalf/GITS/Gun/Gun07-Belt.jpg
http://nesnausk.org/onehalf/GITS/Gun/Gun08-Belt.jpg

Painting of base color and assembly:
http://nesnausk.org/onehalf/GITS/Gun/Gun10-Assembled.jpg

9

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

A little bit more of progress on the legs:

http://nesnausk.org/onehalf/GITS/Legs/GITS00-3dsMax.jpghttp://nesnausk.org/onehalf/GITS/Legs/GITS00-3dsMax2.jpg

3D printing:
http://nesnausk.org/onehalf/GITS/Legs/S1/GITS01-LegS1-3DPrinted.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS01-LegS2-3DPrinted.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS02-LegS3-3DPrinted.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS01-LegS3-3DPrinted-Toes.jpg


Polishing (i.e. reducing visibility of 3D printing slices by sand paper and acetone; acetone also gives strength):
http://nesnausk.org/onehalf/GITS/Legs/S2/GITS02-LegS2-Polished.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS03-LegS3-Polished.jpg


Assembling:
http://nesnausk.org/onehalf/GITS/Legs/S1/GITS02-LegS1-Assembled.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS03-LegS2-Assembled.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS04-LegS2-Assembled2.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS04-LegS3-AssembledSuspension.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS05-LegS3-Assembled.jpg


Puttying (is that a word? smile) (hiding marks of 3D printing even further):
http://nesnausk.org/onehalf/GITS/Legs/S1/GITS03-LegS1-Putty.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS06-LegS3-Putty.jpg


Painting:
http://nesnausk.org/onehalf/GITS/Legs/S1/GITS04-LegS1-Painted.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS05-LegS2-Painted1.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS05-LegS2-Painted2.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS05-LegS2-Painted3.jpghttp://nesnausk.org/onehalf/GITS/Legs/S2/GITS05-LegS2-Painted4.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS07-LegS3-Painted.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS08-LegS3-PaintedToes.jpghttp://nesnausk.org/onehalf/GITS/Legs/S3/GITS09-LegS3-Final.jpg


Result:
http://nesnausk.org/onehalf/GITS/Legs/GITS10-Leg.jpg

"Suspension" of toes:
http://nesnausk.org/onehalf/GITS/Legs/GITS10-LegS3-Suspension.jpg

I hope to finish main body and the I'll be able to attach the legs. I hope that everything will work once cables are connected (fingers crossed smile) Otherwise I'll have to disassemble (read: break) and redo some parts smile) The original plan was to have ability to disassemble, but that was too complicated, so  I skipped that part smile

10

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

A short video from testing of arms:

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Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Very cool so far

If you build it they will come. Then they will make fun of it, tell you it's not worth doing and go home and try to copy you.
If a picture is worth a thousand words then being there is worth a thousand pictures.

(2) Stock Makerbot Z18s, Filastruder w/Melt Filter, Filawinder, Autodesk Inventor Design Suite 2014 .........so far.

12

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Thanks!

One of the most complicated parts: it's time to cover main-body to which all legs are attached:
http://nesnausk.org/onehalf/GITS/Body/GITS00-Body-Target01.jpg

The optimistic plan was to print it from a couple of parts:
http://nesnausk.org/onehalf/GITS/Body/GITS00-Body-Target02.jpg http://nesnausk.org/onehalf/GITS/Body/GITS00-Body-Target03.jpg

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:.
http://nesnausk.org/onehalf/GITS/Body/GITS01-Body-3DPrintingProblems01.jpg http://nesnausk.org/onehalf/GITS/Body/GITS01-Body-3DPrintingProblems02.jpg http://nesnausk.org/onehalf/GITS/Body/GITS01-Body-3DPrintingProblems03.jpg

I subdivided the remaining parts into smaller parts before printing in order to avoid same problems during print:
http://nesnausk.org/onehalf/GITS/Body/GITS02-Body-3DPrinting.jpg

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.
http://nesnausk.org/onehalf/GITS/Body/GITS03-Body-AssemblyProblems.jpg

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 smile To make matters more fun I had to fit wires for 19 servos and plus a bunch of other wires smile
http://nesnausk.org/onehalf/GITS/Body/GITS04-Body-Assembly01.jpg http://nesnausk.org/onehalf/GITS/Body/GITS04-Body-Assembly02.jpg http://nesnausk.org/onehalf/GITS/Body/GITS04-Body-Assembly03.jpg http://nesnausk.org/onehalf/GITS/Body/GITS04-Body-Assembly04.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping01.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping02.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping03.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping04.jpg

More shaping, macroflex, shaping, making surface stronger using PVA glue, polishing, glue, polishing, putty, polishing, putty, polishing:
http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping05.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping06.jpg http://nesnausk.org/onehalf/GITS/Body/GITS06-Body-Shaping07.jpg

Painting and result:
http://nesnausk.org/onehalf/GITS/Body/GITS08-Body-Result01.jpg http://nesnausk.org/onehalf/GITS/Body/GITS08-Body-Result02.jpg

13

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

This is one of the most impressive 3d printing projects Ive seen.

14

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Thanks!


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)":
http://nesnausk.org/onehalf/GITS/Tail/GITS00-Tail-PrintingIssues.jpg

"Tail":
http://nesnausk.org/onehalf/GITS/Tail/GITS01-Tail-3dsMax.jpg

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:
http://nesnausk.org/onehalf/GITS/Tail/GITS01-Tail-Printing1.jpg http://nesnausk.org/onehalf/GITS/Tail/GITS01-Tail-Printing2.jpg http://nesnausk.org/onehalf/GITS/Tail/GITS01-Tail-Printing3.jpg

Assembled:
http://nesnausk.org/onehalf/GITS/Tail/GITS02-Tail-Assembly1.jpg http://nesnausk.org/onehalf/GITS/Tail/GITS02-Tail-Assembly2.jpg

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 smile 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.
http://nesnausk.org/onehalf/GITS/Tail/GITS03-Tail-Putty1.jpg http://nesnausk.org/onehalf/GITS/Tail/GITS03-Tail-Putty2.jpg

Result:
http://nesnausk.org/onehalf/GITS/Tail/GITS04-Tail-Result1.jpg
http://nesnausk.org/onehalf/GITS/Tail/GITS04-Tail-Result2.jpg

15

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Wow 50% off!!! those are some great coupons tongue
Seriously though, very impressive work.

Printit Industries Model 8.10 fully enclosed CoreXY, Chamber heat
3-SD3's & a Workbench all fully enclosed, RH-Slic3r Win7pro, E3D V6, Volcano & Cyclops Hot End
SSR/500W AC Heated Glass Bed, Linear bearings on SS rods. Direct Drive Y-axis, BulldogXL
Thanks to all for your contributions

16

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

wardjr wrote:

Wow 50% off!!! those are some great coupons tongue

At first I was "What?" and then I LOLed smile Sir, you have good attention to detail wink

17

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Ha! Glad I made you laugh big_smile

Printit Industries Model 8.10 fully enclosed CoreXY, Chamber heat
3-SD3's & a Workbench all fully enclosed, RH-Slic3r Win7pro, E3D V6, Volcano & Cyclops Hot End
SSR/500W AC Heated Glass Bed, Linear bearings on SS rods. Direct Drive Y-axis, BulldogXL
Thanks to all for your contributions

18

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

thumbs up for the 3dprint.com cover smile 

http://3dprint.com/54671/ghost-in-the-shell-robot-tank/


big_smile

19

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Thanks! I'm really excited that they did the story smile

20

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

I found out that the old RaspberryPi (model B) 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:
http://nesnausk.org/onehalf/GITS/GITS-RPiReplacement.jpg

This is how it looked before the painting of details:
http://nesnausk.org/onehalf/GITS/GITS-Assembled.jpg

21

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

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:
http://nesnausk.org/onehalf/GITS/Electronics/GITS-PowerUpgrade1.jpg
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 smile)

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 smile 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! smile
http://nesnausk.org/onehalf/GITS/Electronics/GITS-PowerUpgrade2.jpg

I found out that servos in arms take 6V max, so I had to put another voltage stabiliser smile Any change is never as easy as it seems at first sight:)
http://nesnausk.org/onehalf/GITS/Electronics/GITS-PowerUpgrade3.jpg

22

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Happy New Year everyone! I finally found time to get this project going again - there isn't better time than a night of New Year celebration smile I hope to get a better camera soon and make a final photoshoot....

Here are some older picture about what happens when your 3D printer messes up your print and shifts half of a piece. Anyway, there is no thing that saw, glue and putty can't fix smile)
http://nesnausk.org/onehalf/GITS/CenterSphere/GITS01-CenterSphere-Printing.jpg http://nesnausk.org/onehalf/GITS/CenterSphere/GITS02-CenterSphere-Printed.jpg http://nesnausk.org/onehalf/GITS/CenterSphere/GITS03-CenterSphere-Putty.jpg http://nesnausk.org/onehalf/GITS/CenterSphere/GITS04-CenterSphere-Result.jpg

23

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Very cool! I was just talking to someone at work about your project last week.
Good to see you back smile

Printit Mason and Printit Horizon printers
Multiple SD2s- Bulldog XL, E3D v5/v6/Lite6, Volcano, Hobb Goblin, Titan, .9 motor, Lawsy carriages, direct Y drive, fishing line...the list goes on
Filawinder and Filastruder #1870.....worth every penny!

24

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Just saw this, so freaking cool!

FuseBox 1.5 CoreXY - e3dv6 - Graphic Smart Display
Solidoodle 2 - e3dv6 - Hobb Goblin - e3d Titan - lawsy carriages - Direct Drive Y Axis - T8 Z axis - OctoPi

25

Re: Hexapod robot: T08A2 / R3000 spider lightweight tank (from GITS)

Thanks guys!


Painting the robot was a lot of fun. I've done these layers:

  • Prime color

  • Shadows / light surfaces

  • Weathering details

  • Chiping

  • Rust

  • Weathering sufraces

  • Oil/dirt

I overdid the chipping, but that's what happens when you're doing it for the first time smile

http://nesnausk.org/onehalf/GITS/Painting/GITS01-Highlights.jpg http://nesnausk.org/onehalf/GITS/Painting/GITS02-Chiping.jpg http://nesnausk.org/onehalf/GITS/Painting/GITS03-Rust.jpg http://nesnausk.org/onehalf/GITS/Painting/GITS04-Rust.jpg http://nesnausk.org/onehalf/GITS/Painting/GITS05-Final.jpg http://nesnausk.org/onehalf/GITS/Painting/GITS06-Final.jpg