My XR-1 Build

Overview

I wanted to post about my journey building my XR-1.  At the end of 2022 I purchased the Youbionic X1 to try and make a bipedal robot and quickly found that I needed to make changes to the design to better support bipedal working.

This is when I found Chris having the same desire as me to have a robot of this scale that could walk.   He already built the X1 and found many of it’s short comings so we worked together to try a redesign/remix of the X1 and called it the XR-1 once we started this process it was clear it was a completely new design.  We wanted to be able to share with others.   Although my core XR-1 is the new XR-1 design some of my build contains remixes I made just for my build.  Once our download section is completed I will post my remixed parts so anyone that wants them can have them.

Everything is subject to change as I get more and more into this build. Currently my goal is to use the SYNTHIAM ARC application package installed on my onboard Morefine M6S PC running Windows 11 Pro as the main control system in my build. I will have a 4 port USB hub connected to the PC and I will design servo power distribution boards for each hand and head with Arduino Nano's all these boards will be connected to the PC by USB. I we be developing a standard robot control board that will go inside the robot using two Mega Pro's. More on that in the future.

Please check back regularly for updates!!

Last Updated 05/17/2024  

Equipment Used:

Bambu X1 Carbon 3d Printer

Bench DC Power Supply

Servo Tester

Basic Hand Tools

Soldering Iron 

Software Used:

Tinker CAD

FreeCAD

Sharpr 3D

Bambu Labs Slicer

SYNTHIAM ARC

Electronics Used:

1 Morefine M6S Mini PC (Windows11 Pro)

1 5 Inch HDMI-compatible Capacitive Touch Screen 5.0" LCD Display

3 Arduino Nano's

1 PCA9685 Servo Controller

2 Arduino Mega Pro's

2 4 Port USB hub

1 MPU 6050

2 UBEC 8A Max16A

1 On/Off Switch

2 USB Cameras

2 1" Speakers

3 Custom control boards

2 10cm USB-C cables.

1 Short Mirco USB cable for the head

2 USB-C cables for connecting the hands

Servos Used:

9 - Head

3 - Torso

7 - R Arm

7 - L Arm

6 - R Hand

6 - L Hand

6 - R Leg

6 - L Leg

51 total

19 150Kg-180 high torque Digital Servo

2 150Kg-270 high torque Digital Servo

21 18T- Metal disk Servo Wheels

12 JX-PDI 1109MG Servos for the Hands

6 HS-40 Servos used in the Head Eye Flaps

1 MG90 Servo for Head Radar

3 35KG Servos For the Neck & Head

Supplies Used:

5 Black PLA+ Sunlu Printer Filament

6 Grey PLA+ Sunlu Printer Filament

1 White PLA+ Sunlu Printer Filament

1 Copper PLA+ Sunlu Printer Filament

1 Clear PLA Sunlu Printer Filament

1 CA Glue

Assorted Servo Extension Cables

Assorted Screws

Wire

Solder

flux

The Head

The head of my XR-1 is fashioned after the Jonny Five robot. It has three servos to facilitate the rotation of the head and also the tilt. In the head I have mounted six servos to control the eye flap an Arduino Nano control board attached to PCA9685 Servo Controller, a four port USB hub, audio amp with two speakers, LED array for the mouth, USB mic array and two USB cameras.

The following is the new head that I am using in my build.

The Torso

The torso has been under development and the new main board has been added to it as seen below.

The new MK2 version is a much stronger core for the robot and I suggest you make the upgrade when you can.

I have added the arms and wrists and I have to say these seem to be very capable and strong Chris did a great job designing these and with the bearings they move really smooth.

Chris and I thought we should have a display of some type on the XR1 with a touch interface that we could leverage in the future. So Chris was good enough to develop a new PC mount with a display mount included. Below you can see what it looks like.

The is a look at the chest cover Chris came up with for the display.

I have been working on hand options for the XR1 and developed a two finger claw and also a three finger claw options. I think in my build I will be using my remix of the YB hand as seen below:

I still have to install the touch sensors and the right hand will be done.