lcamtuf's perpetual robot works

This page is a raw collection of pictures related to my adventures in CNC machining and robot building. Click here for an annotated story; and for a walkthrough of my current process, check out this Flickr set. Finally, for a technical primer, I have a complete CNC robot building guide.

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2014/05/18 50/11.0
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2014/05/18 50/11.0
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2014/05/18 50/11.0
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2014/05/17 50/8.0
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2013/02/09 50/4.5
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2013/02/09 50/6.3
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2013/02/08 50/3.2
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2013/02/03 50/9.0
Omnibot 2: rendered chassis
2013/01/27
Omnibot 2: CNC work
2013/01/26 50/4.0
Intermission: random etching test
2013/01/19 50/4.5
Bender, layers in CAD
2013/01/18
Bender, vinyl sticker made
2013/01/17 50/4.5
Submicro planetary, assembly
2012/09/28 50/6.3
Submicro planetary, assembly
2012/09/28 50/6.3
Parts for a miniature planetary
2012/09/28 50/7.1
HV silicone oil experiment, spark
2012/09/08 50/3.2
HV silicone oil experiment, corona
2012/09/08 50/3.2
Parts for cycloidal drive
2012/03/14 50/5.6
Gear meshing porn
2012/03/30
My own gear generation script!
2012/03/27
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2012/02/19 24/3.5
Omnibot: facing forward
2012/02/19 24/3.5
Omnibot: rendering of wheels
2011/11/27
Omnibot: linkages
2011/11/25 50/3.5
Omnibot: motor attach detail (color change!)
2011/11/25 50/3.5
Omnibot: linkages
2011/11/23 50/3.2
Omnibot: motor mount
2011/11/23 50/3.2
Omnibot: transmission detail
2011/11/23 50/3.2
Effects of casting on uneven surfaces
2011/09/23
Omnibot: powered wheel assy rendering
2011/09/03
Omnibot: free wheel assy rendering
2011/09/03
Omnibot: steering linkage rendering
2011/09/03
Omnibot: translucent gearbox assembly process
2011/02/08 50/2.2
Omnibot: translucent gearbox variant
2011/02/08 50/8.0
Omnibot: gearbox assembly process
2011/02/02 50/8.0
Omnibot: negative mold (v1)
2011/01/20 50/11.0
Omnibot: finished gear mold (v1)
2011/01/18 50/10.0
End mill damage
2011/01/19
Omnibot: return of the planetary gear
2011/01/18
Omnibot: rought mold machining
2011/01/01 50/2.2
Dial-a-threat: display surface
2010/12/04 24/3.5
Dial-a-threat: dial detail
2010/12/04 24/3.5
Dial-a-threat: dial detail
2010/12/04 24/3.5
Dial-a-threat: machined PMMA
2010/12/02 24/2.5
New Geiger-Mueller lamp body
2010/11/16
Ultimate machine v2: inner workings
2010/08/08 24/4.0
Ultimate machine v2: top view
2010/08/04 24/4.0
Ultimate machine v2: side view
2010/08/04 24/4.0
Ultimate machine v1: in action
2010/07/26 24/1.4
Ultimate machine v1: inner workings
2010/07/26 24/1.4
Ultimate machine v1: side view
2010/07/26 24/1.4
Tinybot mk3: finished view
2010/07/11 24/8.0
Tinybot mk3: rear drive detail
2010/07/09
Tinybot mk3: steering detail
2010/07/09
Tinybot mk3: rendered preview
2010/07/09
Tinybot mk2: assembled platform testing
2010/07/09 24/5.0
Tinybot mk2: assembled platform view
2010/07/04 24/2.5
Tinybot mk1: assembled platform testing
2010/06/21 24/4.0
Tinybot mk1: steering detail
2010/06/19 24/5.0
Tinybot mk1: side view
2010/06/19 24/5.0
Tinybot: early prototype
2010/05/27 85/5.6
Tinybot: early prototype preview
2010/05/21
2.5D scanner: rendered preview
2010/04/12
2.5D scanner: captured data
2010/04/10
2.5D scanner: visible scene
2010/04/10
2.5D scanner: side view
2010/04/10 50/4.0
2.5D scanner: front view
2010/04/10 50/4.0
Comparing CAD data to CAM output
2010/04/06 50/5.0
2.5D scanner: drivetrain assembly
2010/04/03 24/4.0
2.5D scanner: silicone mold
2010/04/03 24/4.0
2.5D scanner: machined master mold
2010/04/02 24/1.4
2.5D scanner: CNC milling
2010/04/02 24/1.4
2.5D scanner: CAD data
2010/03/29
Nondescript experiment
2009/08/27 85/1.2
Pinkbot: assembled leg
2009/02/11 50/3.2
Pinkbot: draft layout
2009/02/09
Pinkbot: actuators
2009/02/08 50/1.8
Pinkbot: actuator testing
2009/02/08 50/1.8
Pinkbot: resin casting
2009/02/02 50/2.5
Pinkbot: actuator CAD drawing
2009/01/31
Pinkbot: another actuator prototype
2009/01/30 50/3.5
Pinkbot: actuator prototype drawing
2009/01/29
Pinkbot: assembled actuator prototypes
2009/01/28 50/3.5
Pinkbot: assembled actuator prototype
2009/01/24 50/2.5
Pinkbot: detail of the gearbox
2009/01/24 50/2.5
Pinkbot: cast parts
2009/01/26 24/6.3
Pinkbot: master mold
2009/01/25 24/1.4
Pinkbot: CNC machining
2009/01/25 24/1.4
Pinkbot: NC software
2009/01/25 24/1.4
Pinkbot: CAD model
2009/01/25
Wheel drive experiments
2008/12/18 24/1.4
Gear geometry test 2: side
2008/12/09 50/3.2
Gear geometry test 2: top
2008/12/09 50/3.2
Gear geometry test 1: top
2008/09/27 50/4.0
Gear geometry test 1: side
2008/09/27 50/4.0
Experiments with transmission belts
2008/07/21 50/5.6
Bugbot mk2: failed experiment
2008/06/14 85/2.5
Bugbot mk2: swivel wheel
2008/05/04 50/1.8
Bugbot mk2: platform being assembled
2008/05/04 50/7.1
Bugbot mk2: differential drive
2008/04/27 24/1.4
Bugbot mk2: wheel and tire
2008/04/26 24/1.4
Bugbot mk2: wheel parts
2008/04/26 24/1.4
Bugbot mk2: gearbox mold
2008/04/26 24/1.4
Bugbot mk2: cast gear
2008/04/26 24/1.4
Bugbot mk2: tire view
2008/04/26 24/1.4
Bugbot mk2: gearbox with bearings (2)
2008/04/26 24/1.4
Bugbot mk2: gearbox with bearings (1)
2008/04/26 24/1.4
Bugbot mk2: top cover mold
2008/03/03 50/3.5
Bugbot mk1: differential drive
2008/02/23 50/3.5
Bugbot mk1: partly assembled frame
2008/02/23 50/3.5
Bugbot mk1: motors and wheels
2008/02/22 50/2.8
Bugbot mk1: wheel assembly
2008/02/21 24/1.4
Leg prototype: view 1
2007/11/13 85/3.2
Leg prototype: view 2
2007/11/12 85/2.2
Leg prototype: assembly
2007/11/12 85/2.2
Leg prototype: planetary gearbox
2007/11/05 85/2.5
Leg prototype: planetary gearbox assembly
2007/11/05 85/1.2
Leg prototype: CNC machining
2007/11/04 85/1.2
MDX-540: new CNC mill
2007/10/03 50/3.2
Leg prototype: planetary gearbox silicone molds
2007/10/28 50/7.1
Leg prototype: planetary gearbox master molds
2007/10/26 50/3.5
Stickbot: assembled frame (2)
2007/06/24 50/7.1
Stickbot: actuator detail
2007/06/22 50/3.2
Stickbot: assembled frame (1)
2007/06/22 50/3.5
Stickbot: leg actuators
2007/06/17 50/1.8
Stickbot: leg actuator parts
2007/06/16 50/3.2
Stickbot: worm drive details
2007/06/16 50/1.8
Stickbot: leg detail (2)
2007/06/15 50/1.8
Stickbot: leg detail (1)
2007/06/15 50/1.8
Early legged robot prototypes
2007/04/18 28/3.5
Sheet PMMA planetary: assembled view (3)
2007/01/02 50/1.8
Sheet PMMA planetary: assembled view (2)
2007/01/02 50/1.8
Sheet PMMA planetary: assembled view (1)
2006/12/30 50/7.1
Sheet PMMA planetary: parts
2006/12/30 85/9.0
Sheet PMMA planetary: rendering
2006/12/29
Early prototyping board machining tests
2006/07/28 50/1.8
Sheet PMMA microbot: assembled view
2006/07/15 50/1.8
Sheet PMMA microbot: under construction
2006/07/13 50/1.8
Sheet PMMA microbot: rendering
2006/07/11
Sheet PMMA microbot: leg construction (3)
2006/07/10 50/1.8
Sheet PMMA microbot: leg construction (2)
2006/07/09 50/1.8
Sheet PMMA microbot: leg construction (1)
2006/07/08 50/1.8
Early experiments with sheet PMMA gears
2006/06/25 50/8.0
Early experiments with sheet PMMA gears
2006/06/22 85/2.0
My first CNC mill, shortly after arrival
2006/05/26 85/1.2
Junkyard bot
2002/08/26
Junkyard bot logic
2002/08/26
Junkyard bot's image sensor data
2002/08/07


All photos copyright by Michal Zalewski <lcamtuf@coredump.cx>
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