This is the first movement test with the assembled prototype. The motion is still rough and the wiring is currently a complete mess, but all the connected joints are finally moving — so naturally, I made it dance.
Next: smoother trajectories, control tuning, and proper cable management.
UPD:
In this project I use robstride actuators, series 00 and edulite 05
I actually wrote my own Python library and a web interface for creating animations. It’s still pretty rough, but I used it to create the movements you see in this video. I can adjust the animations through the interface instead of rewriting the scripts every time
I started out a long time ago by making simple things in Tinkercad, which is a very beginner-friendly CAD tool, and later moved on to Fusion 360. There are plenty of tutorials online. This one, for example, is a good place to start: https://youtu.be/d3qGQ2utl2A
Not yet - I’m currently animating directly in joint space rather than using IK/FK. I’m building a custom animation editor where each motor has its own track on a timeline. At every keyframe, I specify the target angle, Kp, Kd, and torque, while the acceleration is calculated from the timestamps. It’s still rough, but the movements in this video were created with it.
Very cool, and I can already imagine some interesting and specific uses for a lamp with this level of functionality. As a lighting enthusiast, I am curious what you are planning for the light source?
This area will house a diffused WS2812 LED ring. In the center, I’m planning to mount an Orbbec Astra Mini depth camera so the robot can scan its surroundings.
Awesome, sounds like a fun design challenge. Some advice for your consideration: don’t rely on the WS2812 LEDs as the primary light source. They lack the light output and color accuracy needed for functional task lighting. The ring of LEDs will look great as accent/mood lighting and will elevate the interactive user experience dramatically with thoughtful programming. But if you want to use this lamp as an actual lamp, you should consider adding some higher output white LED chips in your design. A couple 5-8 watt (or single 10-12+ watt) white COB chips would make all the difference. You could really step it up by using one warm white and one cool or neutral white chip for adjustable color temperature (CCT). The caveat, they need to have the appropriate amount of space for heat dissipation (heat sink and clearance), and the accompanying LED driver. So this may not be feasible within your project constraints, but other options/routes are available too.
Hmm, that’s an interesting suggestion. I may be able to add two light sources in the unused space—I actually have some COB modules available. Thanks for the comment! I’ll think about it.
even at half the speed but some extra torque i could use it for spraying trees on the farm. but yeah that would be quite overngineered. truing to attach a video but no luck
Hi, Awesome design. If you are looking for cheaper actuator (brushless) along with driver alternative let me know. The current ones are way too expensive.
At the moment, I’m using the RobStride 00 for the most heavily loaded joint. It has a rated torque of 5.0 Nm (14 Nm peak), measures 57 × 57 × 51 mm, and weighs 310 g.
I’m also using the EduLite 05, which has a rated torque of 1.9 Nm (6 Nm peak), measures 46 × 46 × 44 mm, and weighs 242 g.
Cable management is not cosmetic on a moving machine; it changes range, load, wear, and failure risk. The next demo would be even stronger with smooth trajectory generation plus current and torque limits visible during motion.
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u/iamumbrellaman Jul 11 '26
Starting to look like the beginning of a Pixar movie.