Animatronic Tentacles with Arduino.pdf

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Animatronic Tentacles with Arduino
by
howstoyou
on January 24, 2013
Table of Contents
Animatronic Tentacles with Arduino
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Intro: Animatronic Tentacles with Arduino
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Step 1: First Draft: Tail - Part 1
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Step 2: First Draft: Tail - Part 2
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Step 3: Tentacle V2
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Step 4: Tentacle V3 - Step 1 - New Vertebrate
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Step 5: Tentacle V3 - Step 2 - Building the Spine
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Step 6: Tentacle V3 - Step 3 - The "Tendons"
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Step 7: Tentacle V3 - Step 4 - The Skin
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Step 8: Tentacle V3 - Step 5 - The Brain and Muscles
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Step 9: Tentacle V3 - Step 5 - The Back-Pack Mount
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Step 10: Files and Final Thoughts
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File Downloads
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Related Instructables
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Advertisements
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Comments
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http://www.instructables.com/id/Animatronic-Tentacles-with-Arduino/
Intro:
Animatronic Tentacles with Arduino
***Disclaimer***This instructable is documentation for a work in progress. Although the project is not yet complete, it has reached a place where I believe it can begin to
be beneficial to other makers.
The concept for this project was spawned when a friend suggested I be
Slenderman
for Halloween. When I first looked at pictures, I wasn't terribly excited because I am
a prop builder more than a costumer, and Slenderman didn't have any props. However, I then discovered that in some depictions he has tentacle-like appendages
emerging from his back. I started scouring the internet, seeing if anyone could give me any advice on how to bring this part of the costume to life. To my dismay, the best
I could find was suggestions using armature wire to support the tentacles, but they wouldn't move so I set out to design my own.
The Overall Plan:
-Include 4 or 6 Tentacles
-Be mounted on the back
-Be controlled with 1 or 2 Arduino's using 2 Wii Nunchucks
-Move automatically when not being actively puppeteered
-Have an option to fold tight for moving around tight spaces
Step 1:
First Draft: Tail - Part 1
In most cases, small scale is usually the way to start a project. For this, however, it was too hard to visualize how everything would work, so I started work on a single,
large scale model. Since there would only be one of these, I decided to try to build a tail that had the same functionality that the future tentacles would have. The idea was
to use PVC pipe as the "spine" of the tail, and have laser cut 1/8" MDF disc's as the standoff's to make up the vertebrae.
First, I designed the standoff's in Corel Draw. The large hole in the middle was for the PVC and the smaller four holes for the control cables. I then printed these pieces
on an Epilog Legend Series laser cutter. It took some experimenting to get the sizing right, and in the process I created an unbelievable number of these discs.
http://www.instructables.com/id/Animatronic-Tentacles-with-Arduino/
Step 2:
First Draft: Tail - Part 2
After I had the right size discs, I cut short lengths of PVC to be connected to them, and hot glued the two together. (Hot glue, like duct tape, is a fantastic tool for quick,
dirty fixes, but not for robotics. In the final version, I knew I would have to find something a little more precise.)
Next, I had to figure out how to make the PVC vertebrae slide smoothly against each other. I was unable to find any good system for PVC hinges, so I decided to make a
ball joint. I made a sphere of approximately the right size in Solidworks, and then 3D printed them into existence. If I were to do this part over, I would have added a hole
down the center of each ball before printing them. As it was, I used a drill press and some scrap wood as a jig to drill a hole in each.
I then connected everything down the middle using tent shock cord to keep the tension, and tied/hot glued it off at each end. After running some spare twine down the
sides as the control cables, the first draft was complete.
This first "tail" was
far
from perfect; it was heavy, and didn't move as it was supposed to.The problem I discovered was that it twisted on itself too much instead of
moving directly in the direction it was pulled. This first prototype has been very educational, but it was time to move on to version 2.
http://www.instructables.com/id/Animatronic-Tentacles-with-Arduino/
Image Notes
1. 3D Printed Ball Joint
2. Lasercut Vertabrate
Image Notes
1. ~3 feet long
2. Kludgey mass of Duct Tape, Hot Glue, and Wire Ties holding tension is shock
cord
3. Similar Kludgey Mass to the one on the other end
http://www.instructables.com/id/Animatronic-Tentacles-with-Arduino/
Step 3:
Tentacle V2
Before moving onto a new prototype, I hit the books to learn as much as I could about animatronics and tentacles. I ended up finding the invaluable resource
Stan
Winston's School of Character Arts
, a large database of videos for purchase, made by the animatronics studio that is responsible for Jurassic Park, Terminator, Alien,
Predator, and the Iron Man Suit. This find was a jackpot, they have step by step tutorials for all kinds of mechanisms, including a two and a half hour video on the
construction of tentacles of all varieties. I quickly purchased and watched this video, which helped me design version 2.
The Key Changes in Version 2 are:
Speedometer Cable for Spinal Cord - This was suggested in the video referenced above; it can't torque, eliminating the twisting of the first draft.
3D Printed Vertebrae - Though more time consuming than lasercutting, 3D printing would allow me to drill and tap a hole perpendicular to the column, allowing a set
screw to hold each piece in place rather than hot glue.
Ability to have Multiple Stages - Will Be Discussed Later
I quickly began by designing the vertebrae in Google Sketchup. I exported these files as .STL's for 3D Printing using
this plugin
for Sketchup. The first versions center
hole diamater had been miscalculated, and the oval-shaped holes weren't evenly spaced. I quickly resolved this with a second version, but soon realized that it would be
impractical to 3D print every single one of these, as each took ~7 hours to print. Tentacle version 2 was over before it had even gotten going, and I was back to the
drawing board.
Image Notes
1. Version 1
Image Notes
1. Version 1
Image Notes
1. Version 2
http://www.instructables.com/id/Animatronic-Tentacles-with-Arduino/

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