Building JAK's Head

Starting the Assembly

I, Josiah Wallace, started building Jak's head from a number of parts printed from Mr. Dolan's classroom 3D printer (top-left). I followed the step by step instructions on the website http://www.inMoov.fr to assemble the components. I first started with the servo and pieces that allowed left and right head movement (bottom-left), then I attached the parts that allows the head to move up and down. Next came the servo that allowed movement of the jaw piece. After all of the interior assembly was complete, it was time to attach the yellow outer skull (right).

The Eye Mechanism

While looking on the InMoov website Mr. Dolan and I decided that the original eye mechanism would not suffice for our robot. With a little looking around on Thingiverse, we found an eye mechanism that allowed for movement not only in the eyes, but in the eyelids as well. These advanced eyes also feature two small camera's in each pupil. After six servos, a multitude of small parts, doughnuts, tea, and a couple late nights work, the eyes were assembled (left). This advanced eye mechanism was then glued into the mask of Jak's face, completing the assembly.

Electronics and Mounting

With many options to choose from, Mr. Dolan and I decided to use the 16-channel PWM servo driver along with the Raspberry-Pi Zero to control the movement of the Jak's head (left). These electronic components were then stored into the extra space near the frontal lobe of the head for a neat and clean look.

Once the electronics were placed inside of Jak's head, it was mounted onto the body assembled by Mr. Dolan (right). The wires were also routed toward the back of the driod's neck so that they would not get in the way. At this time, we were also thinking of mounting the electronics in the body area instead of in the frontal lobe of the head. This would help accessibility and overall neatness of the droid.