A simple Soft Robot
Ideal for the first steps into Soft Robotics
An open source design
Build your own Tripod
In order to build your own Tripod, you will need the parts listed below. You have the choice between 3D-printing all the hard pieces of the robot – in which case you will need the .STL files that we provide for your 3D-printer – or laser-cutting most of these parts – see the .SVG files provided – and only 3D-printing the pieces that secure the servomotors. We don’t currently provide ready-to-assemble kits, so you will also need to purchase the MakeBlock MegaPi board and the three MakeBlock SG90 servomotors on your end, as well as the bolts, nuts and washers described below. The detailed instructions are presented hare after and can be downloaded here. You can also follow us building a Tripod in the video below. If you have any question, please head to our Contact *link* section.
We also love to hear about new Tripod owners, so don’t hesitate to send us pictures of your own robot!
Attach the servo base and the servo cover using M2 9.8mm cross head bolts and place the plastic horn onto the shaft of the motor (Figure 1). It is not necessary to add a bolt to the horn at this point.
Do the same for the other 2 servos.
Upper base assembly
Fix the arm support beside the servo base in the same manner (Figure 3).
With the arm support in place, attach the servo arm to the plastic horn (Figure 4) placing one M2 11.8mm flat head bolt to the center hole of the arm and one M2 7.8mm screw to one of the side holes of the arm.
Slide the 2 back arms into the square slots of the servo arm (Figure 5).
Slide the passive arm into the shaft of the arm support while fitting the back arms into its square slots (Figure 6). Fix the passive arm in place using a M3 8.3mm carriage bolt and a washer.
Slide 2 M3 Allen socket bolts through both back arms of each servo from the front and place a nut at the end of the bolts without tightening them (Figure 7). These two bolts will allow us to fix the silicon rubber in a ”sandwich” between the back arms.
Repeat for the other 2 servos. Your upper base assembly should look like Figure 8.
Lower base assembly
Place the threaded rods into the lower base attaching nuts to each side of it (Figure 10). At the top of the rod, screw another nut leaving 8mm of rod at the top.
Finishing the assembly
The assembly should look like this:
Silicone casting & placing
Once demoulded, it is ready for assembly. If there has been any leakage on the edges, it can be trimmed with a sharp knife.
Insert 1cm of the extremities of the silicon ”Y” in the space between the arm backs and squeeze it using the socket bolts. Your Tripod is now ready for testing!
If you have never used Sofa, you can have a look at our page First Steps with Sofa and then try our Tripod tutorial.
An exemple of interactive simulation implemented with Sofa