Jenny 5 Robot

Stepper motor with 50:1 gearbox

Column drilling machine

Stepper driver A4988 Pololu

Mastech MS8217 Autorange Digital Multimeter

OpenCV

Caliper

Hole saw

Soldering iron (generic)

Linear DC motor (12V, 750N)

Fritzing

Arduino IDE

Roboclaw 7A

Arduino Nano R3

Visual Studio 2017

3D Printer (generic)

vmicro

DC motor (generic)

Stepper motor with 27:1 gearbox

AS5147 - Magnetic, Rotary Position Senso

OpenSCAD

A-Star 32U4 Mini

Solder Wire, Lead Free

Roboclaw 15A

Screw driver

Mitre saw

Jenny 5 is an (almost) humanoid robot intended to be used mainly for research but also as a human assistant. More details about Jenny 5 can be found at: <a href="https://jenny5.org/">https://jenny5.org</a> or <a href="https://jenny5-robot.github.io/">https://jenny5-robot.github.io</a>.Jenny 5 was inspired by the Johnny 5 robot from the <a href="http://www.imdb.com/title/tt0091949/">Short Circuit </a>movie. This a great movie that anyone must see.Jenny 5 has a mobile platform with tracks, a pliable leg, two arms with 7 degrees of freedom each and one head.All source files (CAD, software etc) for Jenny 5 are freely available on <a href="https://github.com/jenny5-robot">GitHub.</a> All code is released under <a href="https://en.wikipedia.org/wiki/MIT_License">MIT license </a>so that anyone can freely use it in both personal and commercial applications.Jenny 5 is easy and cheap to build. Most components can be purchased from robotics stores. Custom made parts can be printed with a 3D printer. Some aluminium profiles can be cut and drilled with tools available for hobbyists.Materials (excepting the computer) cost about 2500 USD (please see the <a href="https://docs.google.com/spreadsheets/d/1SwaC4woJEvUEqn66lIG9MLYkuADfTsWIQtvDKaCQT1s/edit?usp=sharing">bill of materials </a>for more details).Jenny 5 is designed in <a href="http://www.openscad.org/">OpenSCAD </a>which is a CAD software where you write instructions, instead of using the mouse, to create objects.The platform is driven by 2 DC motors with planetary gearbox controlled by a <a href="https://www.basicmicro.com/">RoboClaw </a>board.The leg is driven by 2 linear motors controlled by a RoboClaw board.Each arm has 6 stepper motors and each joint has attached a magnetic sensor for reading its position. Motors and sensors are controlled by an <a href="https://www.pololu.com/product/3145">A-Star 32U4 Mini</a> board.The gripper is powered by a servo motor. The gripper is connected to the same A-Star 32U4 Mini board as the entire arm. The gripper has attached a webcam used for recognizing objects closed to it.The head has 2 degrees of freedom ensured by 2 stepper motors which have magnetic attached for reading the position. The head has a webcam for object detection and an ultrasonic sensor for distance measurement. All head components, except the camera, are connected to an <a href="https://store.arduino.cc/arduino-nano">Arduino Nano </a>board.The entire robot is powered by 2 LiPo batteries: one for platform and foot and one for arms and head.A-Star / Arduino boards run a specially crafted firmware called <a href="https://github.com/jenny5-robot/Scufy">Scufy </a>which is able to control multiple stepper motors and read a variety of sensors: buttons, ultrasonic, potentiometers, infrared, LIDAR etc.PC software is built around several libraries which send commands, on a serial port, to A-Star/ Arduino boards and to the RoboClaw controller.The robot can be manually controlled by an HTML5 application running within browser on a smartphone. The HTML5 application connects with a server running on the robot. The server is the one that actually execute the commands(move, read sensors) etc. The server is built on a top of a light WebSocket server.Having all these elements, the robot can be utilised in a wide range of scenarios. Here is a short list of things that the robot could do (if programmed correctly):<ul ><li >House cleaning</li></ul><ul ><li >Food preparation</li></ul><ul ><li >Cleaning kitchen table</li></ul><ul ><li >Working in the garden</li></ul><ul ><li >Surveillance</li></ul><ul ><li >Rescue</li></ul><ul ><li >Disaster management</li></ul><ul ><li >Fire fighting</li></ul><ul ><li >...</li></ul>For more details please read the <a href="https://www.researchgate.net/publication/334974417_Jenny_5_-the_robot">technical report </a>about Jenny 5.You can also subscribe to Jenny 5 <a href="https://groups.google.com/forum/#!forum/jenny5">Google group</a>.<div class="se-component se-video-container __se__float-none" contenteditable="false" style="width: 100%;"><figure style="width: 100%; height: 56.25%; padding-bottom: 56.25%; margin: 0px;"><iframe frameborder="0" allowfullscreen="" src="https://www.youtube.com/embed/hdJjoeEZpkE" data-proportion="true" data-percentage="100%,56.25%" data-size="100%,56.25%" data-align="none" style="width: 100%; height: 100%;" data-index="0" data-file-size="0" data-origin="100%,56.25%"></iframe><figcaption contenteditable="true"><div>Jenny 5 - testing the platform</div></figcaption></figure></div><div class="se-component se-video-container __se__float-none" contenteditable="false" style="width: 100%;"><figure style="width: 100%; height: 56.25%; padding-bottom: 56.25%; margin: 0px;"><iframe frameborder="0" allowfullscreen="" src="https://www.youtube.com/embed/TEIDooj2Ez0" data-proportion="true" data-percentage="100%,56.25%" data-size="100%,56.25%" data-align="none" style="width: 100%; height: 100%;" data-index="0" data-file-size="0" data-origin="100%,56.25%"></iframe><figcaption contenteditable="true"><div>Jenny 5 - moving through garden</div></figcaption></figure></div><div class="se-component se-video-container __se__float-none" contenteditable="false" style="width: 100%;"><figure style="width: 100%; height: 56.25%; padding-bottom: 56.25%; margin: 0px;"><iframe frameborder="0" allowfullscreen="" src="https://www.youtube.com/embed/QCJ_H5Qos-U" data-proportion="true" data-percentage="100%,56.25%" data-size="100%,56.25%" data-align="none" style="width: 100%; height: 100%;" data-index="0" data-file-size="0" data-origin="100%,56.25%"></iframe><figcaption contenteditable="true"><div>Jenny 5 - moving arms</div></figcaption></figure></div><figure><img src=https://projects.arduinocontent.cc/8a98c4ce-824e-4cf7-8e24-f2e74f70bb73.jpg /><figcaption>Jenny 5 in garden</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/4fff2c80-2736-4b26-8515-cb6155cfb070.jpg /><figcaption>Jenny 5 and me in garden</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/87bc8065-38e4-43ae-b5a9-c88321b535a7.jpg /><figcaption>Jenny 5 with leg compressed</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/c2b705f8-d041-4c96-a29f-68435c3a62a1.jpg /><figcaption>Jenny 5</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/3368467d-5fe6-4473-a27a-97080b49924a.jpg /><figcaption>Jenny 5 arm (close view)</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/fcfbc218-1eab-40f7-9a93-0c435573e7bc.jpg /><figcaption>Jenny 5 platform and leg.</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/e054312d-9029-47a7-9a38-184286d80f9c.jpg /><figcaption>Jenny 5 arm electronics</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/ead6bb4a-66f2-44c2-9f65-f0b2440bbdce.png /><figcaption>Jenny 5. Design view</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/a7da545d-0ecb-4c19-be38-0067032456f3.png /><figcaption>Jenny 5 platform</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/05777c87-c588-462d-9de9-f28353a76895.png /><figcaption>Jenny 5 leg (frontal and lateral view)</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/0a3f071a-316a-44af-bca3-d5a38134b5fe.png /><figcaption>Jenny 5 arm</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/5c20e18d-e71b-4dee-8283-9c3361ac9181.png /><figcaption>Jenny 5 gripper</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/32749d3a-aa2b-41ae-90aa-ab0ca0a43a3b.png /><figcaption>Jenny 5 new arm PCB design</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/499c05ec-a14d-4ebe-83cf-3dd4d8e986ac.png /><figcaption>HTML5 client.</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/9bfdab0a-a002-4829-ade7-44e28c16bc6d.jpg /><figcaption>New and old electronics for arm.</figcaption></figure><figure><img src=https://projects.arduinocontent.cc/812d0456-1a6c-459d-b795-02c4ec636735.jpg /><figcaption>Platform and leg electronics. Will replace Roboclaw in future.</figcaption></figure>

Jenny 5 Robot

Jenny 5 is a fully open-source robot. It has a mobile platform, a flexible leg, two arms with 7 degrees of freedom each and a head.