Humanoid Eyes "3SAM - عصام"

When I was young, and like all children, I always imagined a robot resembling a human, like in cartoon movies. However, when I grew up and my work became related to robots in one way or another, the urge to see a human robot remained within me. Later, I learned that it is called a humanoid. And since it is a frequently asked question in every first session for children about robots.. So I decided to satisfy my passion and that of my children and make a Humanoid Robot.

3SAM consists of 3 main parts to be designed and fabricated:

1- The eyes ( 2 eyes - ball joints )

2- The holder ( Motors house - Holder - Electronics box )  

3- The Controller 

I used FUISION 360 to generate the whole design parts to be laser cutted ro 3D printed 

To fabricate this design I choose to fabricate the Eyes, Eyelids & Ball Joints using 3D printing mechanism and fabricated the rest of the design using laser cutting mechanism

For 3D printing I used Ultimaker Cura software to prepare the parts and selected the features to be:

• 0.2 layer height

• 20% infill 

• Skirt Addhision 

• Tree Support 

I Used 70g PLA filament with white color for fabrication and it took 8 hours and 37 minte to be printed so i used the PRUSA MK I3 printer overnight to print it 

For Laser cutting I used Laser Work software to prepare the required parts parts and selected the machine kerf to be - 0.15

I Used 2 Polywood sheets with 3ml thickness for the whole design it took around 00 minte to be cutted using the laser cutting machine 

Then I recognized that I did not designed and cut the base box so, I completed the design and bach to laser cutting

For the mechanism of 2 Eyes I used 6 Servo Motors to generate the movement in x, y & z directions and used Joystick to control them all together and give the eyes the blinks. Then I used 8*8 LED Matrix to provide the ability to draw a smile or a reaction to be the moth of the robot. FInally, I added a switches & potentiometer to the controller to give you the ability to demonstrate a certain reactions. Then I used Arduino UNO & Arduino IDE software to integrate all parts together and program it

Controller: Arduino UNO

Inputs: Joystick - Potentiometer - Push Buttons 

Outputs " Action Components ": Servo Motors - LED Matrix

Software: Arduino IDE

For power I used 2 different adaptors, one of them 9V for powering the arduino and the rest of components like the joystick or the LED matrix and the second 5V to power the 6 servo motors 

Firstly I included all the libraried I needed for the matrix, servos & joystick

Then defined the whole pins used from the arduino 

Into void setup I started the serial print to see all measurements i a clear way then defined the type of the variables and the rang of movement then reached the void loop and then i made the angle of rotation of the motor same as the angle of the joystick 

For the LEDs matrix i used app called Pixel To Matrix to transform the shape needed into numbers & letters that used into the code 

8- For integrating all parts together I used screws & nuts to fix the wooden parts together through T-slots forming the bottom box and the holder then I fixed the motors in the motors house with the suitable orientation & finally used the screw & nuts to fix the joint too and using the fabricated Ball Joint to hold the eye. I managed the wires into the model and labeled it and fixed the matrix's in the front of the robot

1- While Designing the project cleared to be hard to design with a suitable direction, So, I searched about all human face dimensions to see if it's suitable or no 

2- while 3D printing my fie took alto of time to end and while printing the machine crushed 2 times then me and Eng.Abdelrahman except decided to rearrange the bed and use the machine 

3- The ball joint I designed so thin and when it printed was so weak so we used different filament to print it and it worded put after that and while the trials of the mechanism and system one of the joints damaged again 🥲

4- Servos needed a lot of power that I could not provide the system "Arduino+Joystick+Matrix" & 6 servos from the same adaptor so we discussed a lot me and Menna Galal my lovely instructor and Abdelrahman and reached a solution to use 2 different adaptors 

5- Because i'm from Alexandria I travelled with 3sam 2 times while making it 😂

 Final Project Design Files