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Introduction, Starting my SpotMicro

My name is Matthias. I currently live in Germany. I used to write software for special effects in the film industry, but always had a huge interest in robots and 3d printing.

I found SpotMicro through Thingiverse and downloaded the original probably a few days after they appeared there. It took a while, but I finally managed to print all files and I started assembly yesterday, hoping I will have a walking Spot pretty soon.

I am currently using an Arduino Due for its many pins and nice speed, but I may move to the Teensy 4.0, or even the RasPi at some point. To get force feedback from the legs, I am probably going to make a servo controller for all 12 servos that measures the servos power demand, but that is a further down on the todo list ;-)

 - Matt

[Image: 20190817_220401.jpg]
And since this is the weekend and I had a little bit of tim, here is the first preassembled arm. I am missing glue, so I can't put it together all the way just yet. 


- make sure that all the servo horns fit before you assemble anything; it's much harder to make parts fit that are already attached
- make sure that the nuts are aligned correctly (if they are a tight fit due to tolerances)
- every leg is different; make sure you sort parts beforehand
- set the servos via software to positions that make sense; there is no way to adjust those horns without disassembling the entire leg
- the cable of the lower leg servo can be routed under the cover of the upper leg; there is a channel for that
- don't use force, use the file to make parts fit; in a second iteration, we should improve some weak spots
- the shoulder joint, although meant well, hangs in the air, not touching the servo; we should come up with a counterpart to make this stable
 - Matt

PS: the bad surface on the yellow parts comes from a bad support structure during 3D printing.

[Image: SpotMicroArm.jpg]
Looks great! I'll be sure to follow how your build goes! Where did you get your servos from?
I'll be back in the shop on Sep. 2nd. The servos are from Wishiot via Amazon and were 12 Euros a piece. The MG996R would have been 5 Euros here in Germany, again via Amazon (Longruner).

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