{"id":2479,"date":"2018-01-02T12:50:00","date_gmt":"2018-01-02T12:50:00","guid":{"rendered":"http:\/\/dyor.roboticafacil.es\/?p=2479"},"modified":"2018-04-25T06:00:21","modified_gmt":"2018-04-25T06:00:21","slug":"diseno-tinkercad-dyor-bped","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/diseno-tinkercad-dyor-bped\/","title":{"rendered":"TinkerCAD Design of DYOR bPED"},"content":{"rendered":"<p>In this entry, we describe the process to design in TinkerCAD the robot DYOR bPED.<\/p>\n<p><!--more--><\/p>\n<p>The expected result after finishing these steps is shown below:<\/p>\n<p>&nbsp;<\/p>\n<p>First, we will download some necessary STL files to create holes for our components:<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR_bPED_ficheros_stl.zip\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED Components<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Base Design<\/h4>\n<p>We will start by adding the ruler to our workplane. Put it somewhere close to the left-bottom corner of the workplane. After that, we need to create a cube with dimensions (82,97,3) mm and place it at the coordinate (0,0,0) mm with respect to the ruler. We also need to change the &#8220;radius&#8221; property to 1.22 mm to create rounded corners.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2483\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base1.png\" alt=\"\" width=\"685\" height=\"398\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base1.png 685w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base1-300x174.png 300w\" sizes=\"auto, (max-width: 685px) 100vw, 685px\" \/><\/p>\n<p>Import the file &#8220;Servo.stl&#8221; and place it at coordinate (0,25.7,-13) mm, turn it 180\u00ba so that the axis points downwards and select the hole shape.<\/p>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2486\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base2.png\" alt=\"\" width=\"549\" height=\"337\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base2.png 549w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base2-300x184.png 300w\" sizes=\"auto, (max-width: 549px) 100vw, 549px\" \/><\/p>\n<p>Now, we will repeat this procedure with the other servo by placing it at the coordinate (70.2,25.7,-8) mm, also with the servo axis pointing downwards and hole shape.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2487\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base3.png\" alt=\"\" width=\"630\" height=\"329\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base3.png 630w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base3-300x157.png 300w\" sizes=\"auto, (max-width: 630px) 100vw, 630px\" \/><\/p>\n<p>Now, we will create a cylinder of dimensions (9,9,3) mm and place it in the coordinate (3.5,3.5,0) mm. The shape will be a hole so that servo cables can pass through it.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2488\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base4.png\" alt=\"\" width=\"560\" height=\"341\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base4.png 560w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base4-300x183.png 300w\" sizes=\"auto, (max-width: 560px) 100vw, 560px\" \/><\/p>\n<p>In the same way, we will create another cylinder with the same dimensions and place it in the coordinate (69.5,3.5,0) mm so that cables from the other leg can pass through too.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2489\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base5.png\" alt=\"\" width=\"643\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base5.png 643w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base5-300x154.png 300w\" sizes=\"auto, (max-width: 643px) 100vw, 643px\" \/><\/p>\n<p>Now, we will create the holes to fit the robot&#8217;s front part. They are two cubes with dimensions (10,3,3) mm placed at coordinates (22,89,0) mm and (50,89,0) mm, respectively.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2490\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base6.png\" alt=\"\" width=\"351\" height=\"295\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base6.png 351w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base6-300x252.png 300w\" sizes=\"auto, (max-width: 351px) 100vw, 351px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2491\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base7.png\" alt=\"\" width=\"370\" height=\"318\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base7.png 370w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base7-300x258.png 300w\" sizes=\"auto, (max-width: 370px) 100vw, 370px\" \/><\/p>\n<p>Finally, we will group all shapes to generate the part to print.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2492\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base8.png\" alt=\"\" width=\"348\" height=\"350\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base8.png 348w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base8-150x150.png 150w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_base8-298x300.png 298w\" sizes=\"auto, (max-width: 348px) 100vw, 348px\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR%20bPED_base.stl\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED base<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Feet Design<\/h4>\n<p>Now, we will move the ruler to the right, where we will start creating a robot foot. If necessary, you can move the already created base part to the left to leave more space. In order to design the left foot, we will create a cube with dimensions (66,75,3) mm placed at coordinate (0,0,0) mm with a rounding radius of 2.44.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2494\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot1-1.png\" alt=\"\" width=\"528\" height=\"331\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot1-1.png 528w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot1-1-300x188.png 300w\" sizes=\"auto, (max-width: 528px) 100vw, 528px\" \/><\/p>\n<p>In order to generate the feet, we will use an advanced feature of TinkerCAD in combination with Inkscape. The aim is to create a shape that we will use to remove part of the cube we have created so that we have three toes.<\/p>\n<p>First, we need to draw, in Inkscape, a B\u00e9zier curve with an approximate size of 66&#215;25 mm (make sure you are using\u00a0 mm):<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2497\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/inkscape1.png\" alt=\"\" width=\"393\" height=\"187\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/inkscape1.png 393w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/inkscape1-300x143.png 300w\" sizes=\"auto, (max-width: 393px) 100vw, 393px\" \/><\/p>\n<p>This is the file we have used:<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/inkscape-files\/toes.svg\" target=\"_self\" class=\"emd_dl_purple\" download>Inkscape Template DYOR bPED fingers<\/a><\/div>    <style>            \r\n    .emd_dl_purple {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #d197fe;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #d197fe;\r\n        box-shadow:inset 0px 1px 0px 0px #d197fe;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #a53df6), color-stop(1, #7c16cb) );\r\n        background:-moz-linear-gradient( center top, #a53df6 5%, #7c16cb 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#a53df6', endColorstr='#7c16cb');\r\n        background-color:#a53df6;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #9c33ed;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:350px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #7d15cd;\r\n    }\r\n    .emd_dl_purple:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #7c16cb), color-stop(1, #a53df6) );\r\n        background:-moz-linear-gradient( center top, #7c16cb 5%, #a53df6 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#7c16cb', endColorstr='#a53df6');\r\n        background-color:#7c16cb;\r\n    }.emd_dl_purple:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<p>After that, we need to create our own shape in TinkerCAD based on extrusion (which means that from a 2D shape, we will create a 3D shape by providing a proper height). Please, follow the instructions as given:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-3271\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generators.png\" alt=\"\" width=\"195\" height=\"85\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2499\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator1.png\" alt=\"\" width=\"244\" height=\"142\" \/><\/p>\n<p>Once we are in the Shape Generator tool, by default it will be shown a circle. In the left side menu, we can manage our &#8220;resources&#8221; by accessing the &#8220;resources&#8221; tab. We must delete the default geometry and import our file &#8220;toes.svg&#8221; with toes shape.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2500\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator2.png\" alt=\"\" width=\"561\" height=\"234\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator2.png 561w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator2-300x125.png 300w\" sizes=\"auto, (max-width: 561px) 100vw, 561px\" \/><\/p>\n<p>For some unknown reason, TinkerCAD does not recognize the proper units by default. For that reason, we need to change the recently imported file (on the left menu within the &#8220;resources&#8221; tab) and replace width=&#8221;66mm&#8221; and height=&#8221;25mm&#8221; with width=&#8221;66px&#8221; and height=&#8221;25px&#8221;, respectively.<\/p>\n<p>Now, in the &#8220;main.js&#8221; file, we can assign the geometry we have just imported by replacing the name &#8216;circle-2RL4RC.svg&#8217; with &#8216;toes.svg&#8217; inside the function &#8220;shapeGeneratorDefaults&#8221; and the line &#8220;var height = 20.0;&#8221; with &#8220;var height = 3.0;&#8221; within the &#8220;process&#8221; function. Save the changes to take effect.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2501\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator3.png\" alt=\"\" width=\"570\" height=\"494\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator3.png 570w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator3-300x260.png 300w\" sizes=\"auto, (max-width: 570px) 100vw, 570px\" \/><\/p>\n<p>After all this process, we should have the following shape (we have fit the size to 68x25x3 mm, slightly larger than the original shape so that we make sure that the borders are completely removed):<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2508\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator4.png\" alt=\"\" width=\"473\" height=\"177\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator4.png 473w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/shape_generator4-300x112.png 300w\" sizes=\"auto, (max-width: 473px) 100vw, 473px\" \/><\/p>\n<p>Now, we can place the new shape just in front of the foot, at coordinate (-1,58,0) mm and convert it to a hole shape. We can also create three cylinders of height 3mm with an arbitrary shape as if they were nails of the toes with arbitrary orientation.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2507\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot4.png\" alt=\"\" width=\"521\" height=\"417\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot4.png 521w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot4-300x240.png 300w\" sizes=\"auto, (max-width: 521px) 100vw, 521px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2504\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot5.png\" alt=\"\" width=\"374\" height=\"166\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot5.png 374w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot5-300x133.png 300w\" sizes=\"auto, (max-width: 374px) 100vw, 374px\" \/><\/p>\n<p>In order to create the ankle, we will create a cube of dimensions (15,3,6.3) mm and place it in the coordinate (28,4,3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2509\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot2.png\" alt=\"\" width=\"624\" height=\"243\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot2.png 624w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot2-300x117.png 300w\" sizes=\"auto, (max-width: 624px) 100vw, 624px\" \/><\/p>\n<p>Then, we will create a round roof with dimensions (15,3,7.5) mm, place it in the coordinate (28,4,9.3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2510\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot3.png\" alt=\"\" width=\"625\" height=\"259\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot3.png 625w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot3-300x124.png 300w\" sizes=\"auto, (max-width: 625px) 100vw, 625px\" \/><\/p>\n<p>Finally, we will need to create a hole for the rivet. The diameter is 2mm so that the dimensions of the cylinder will be (2,2,3) mm and we will need to rotate it with respect to X-axis 90\u00ba degrees.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2511\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot6.png\" alt=\"\" width=\"179\" height=\"165\" \/><\/p>\n<p>Place the cylinder at coordinate (34.5,4,9.3) mm<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2512\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot7.png\" alt=\"\" width=\"671\" height=\"266\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot7.png 671w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot7-300x119.png 300w\" sizes=\"auto, (max-width: 671px) 100vw, 671px\" \/><\/p>\n<p>Now, group all foot-related shapes and we&#8217;ve got it!<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2514\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot8.png\" alt=\"\" width=\"557\" height=\"399\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot8.png 557w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot8-300x215.png 300w\" sizes=\"auto, (max-width: 557px) 100vw, 557px\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR%20bPED_left_foot.stl\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED left foot<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<p>To create the right foot, we will copy the left foot and place it on top-right corner of the workplane. We will move the ruler and make sure the foot is placed at coordinate (0,0,0) mm with respect to the new position of the ruler.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2515\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot9.png\" alt=\"\" width=\"633\" height=\"398\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot9.png 633w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot9-300x189.png 300w\" sizes=\"auto, (max-width: 633px) 100vw, 633px\" \/><\/p>\n<p>Now, we need to ungroup the geometries corresponding to the right foot and regroup them so that the objects corresponding to the foot sole and toes are all grouped together and the ankle (with the hole) is another group. We have assigned two different colours to each group.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2516\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot10.png\" alt=\"\" width=\"411\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot10.png 411w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot10-300x241.png 300w\" sizes=\"auto, (max-width: 411px) 100vw, 411px\" \/><\/p>\n<p>Now, we need to rotate 180\u00ba with respect to the Y-axis (mirror it) and move the ankle to the new coordinates (22.6,4,3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2517\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot11.png\" alt=\"\" width=\"467\" height=\"374\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot11.png 467w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot11-300x240.png 300w\" sizes=\"auto, (max-width: 467px) 100vw, 467px\" \/><\/p>\n<p>Finally, we will group the objects together so we have the right foot.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2518\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot12.png\" alt=\"\" width=\"364\" height=\"303\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot12.png 364w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_foot12-300x250.png 300w\" sizes=\"auto, (max-width: 364px) 100vw, 364px\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR%20bPED_right_foot.stl\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED right foot<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Legs Design<\/h4>\n<p>The design for the legs is the same for both legs. We will describe the design process for one of them (let&#8217;s say left leg). We need to move the rule to the right of the left foot and create a cube with dimensions (15,39,3) mm placed at coordinate (0,0,0) mm with respect to the ruler.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2520\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg1.png\" alt=\"\" width=\"543\" height=\"380\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg1.png 543w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg1-300x210.png 300w\" sizes=\"auto, (max-width: 543px) 100vw, 543px\" \/><\/p>\n<p>Now, we can import the STL file &#8220;servo_horn.stl&#8221; and make it hole shaped. Rotate it 180\u00ba and placed it at coordinate (4,16,0) mm, as shown.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2521\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg2.png\" alt=\"\" width=\"546\" height=\"298\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg2.png 546w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg2-300x164.png 300w\" sizes=\"auto, (max-width: 546px) 100vw, 546px\" \/><\/p>\n<p>Repeat the process again, but now, the horn will be pointing downwards, which means that we need to rotate it 180\u00ba with respect to the existing one and place it at coordinate (4,3.21,0) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2522\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg3.png\" alt=\"\" width=\"538\" height=\"326\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg3.png 538w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg3-300x182.png 300w\" sizes=\"auto, (max-width: 538px) 100vw, 538px\" \/><\/p>\n<p>If we group objects, we should have the following result:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2523\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg4.png\" alt=\"\" width=\"204\" height=\"288\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Now, let&#8217;s create the front side of the leg. So we need to create a cube of dimensions (15,3,30) mm and place it at coordinate (0,36,0) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2525\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5.png\" alt=\"\" width=\"346\" height=\"283\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5.png 346w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5-300x245.png 300w\" sizes=\"auto, (max-width: 346px) 100vw, 346px\" \/><\/p>\n<p>In order to have a rounded shape, we need to create a curved roof with dimensions (15,3,11.5) mm and position (0,36,30) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2530\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5b.png\" alt=\"\" width=\"365\" height=\"423\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5b.png 365w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5b-259x300.png 259w\" sizes=\"auto, (max-width: 365px) 100vw, 365px\" \/><\/p>\n<p>Group the parts corresponding to the front-side leg<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2531\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5c.png\" alt=\"\" width=\"342\" height=\"395\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5c.png 342w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5c-260x300.png 260w\" sizes=\"auto, (max-width: 342px) 100vw, 342px\" \/><\/p>\n<p>and copy and paste it to create the rear-side part and place it at coordinate (0,0,0) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2532\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5d.png\" alt=\"\" width=\"406\" height=\"412\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5d.png 406w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg5d-296x300.png 296w\" sizes=\"auto, (max-width: 406px) 100vw, 406px\" \/><\/p>\n<p>Now, we import again the STL file &#8220;servo_horn.stl&#8221; and rotate it 90\u00ba with respect to X-axis, and 180\u00ba with respect to Y-axis as shown in next figures:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2527\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg6.png\" alt=\"\" width=\"150\" height=\"272\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2528\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg7.png\" alt=\"\" width=\"207\" height=\"203\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2529\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8.png\" alt=\"\" width=\"96\" height=\"186\" \/><\/p>\n<p>Once rotated, we can place it at coordinate (4,36,17) mm and make it hole.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2533\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8-1.png\" alt=\"\" width=\"366\" height=\"369\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8-1.png 366w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8-1-150x150.png 150w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8-1-298x300.png 298w\" sizes=\"auto, (max-width: 366px) 100vw, 366px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2534\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8a.png\" alt=\"\" width=\"335\" height=\"381\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8a.png 335w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg8a-264x300.png 264w\" sizes=\"auto, (max-width: 335px) 100vw, 335px\" \/><\/p>\n<p>In order to create the hole for the ball bearing, we need to create a cylinder rotated 90\u00ba with respect to the X-axis and dimensions (4.9,3,4.9) mm (once rotated). Place it at coordinate (5.05,0,34.05) mm<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2535\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg9.png\" alt=\"\" width=\"465\" height=\"450\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg9.png 465w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg9-300x290.png 300w\" sizes=\"auto, (max-width: 465px) 100vw, 465px\" \/><\/p>\n<p>In order to complete the leg, we will simply group all objects<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2536\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg10.png\" alt=\"\" width=\"240\" height=\"318\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg10.png 240w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_leg10-226x300.png 226w\" sizes=\"auto, (max-width: 240px) 100vw, 240px\" \/><\/p>\n<p>As mentioned before, the right leg is the same so we just simply need to copy and paste it at a different position (to the right of the right foot).<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR%20bPED_leg.stl\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED leg<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Face Design<\/h4>\n<p>To create the robot&#8217;s face, we will move the ruler to the top-left corner of the workplane. We start by creating a cue of dimensions (60,70,3) mm and positioning it at coordinate (0,0,0) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2537\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face1.png\" alt=\"\" width=\"504\" height=\"343\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face1.png 504w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face1-300x204.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face1-75x50.png 75w\" sizes=\"auto, (max-width: 504px) 100vw, 504px\" \/><\/p>\n<p>Now, we will create three hole cubes with dimensions (11,3,3), (18,3,3) and (11,3,3) mm placed at coordinates (0,0,0), (21,0,0), y (49,0,0) mm, respectively. Group them to create the geometry shown:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2538\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face2.png\" alt=\"\" width=\"446\" height=\"144\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face2.png 446w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face2-300x97.png 300w\" sizes=\"auto, (max-width: 446px) 100vw, 446px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2539\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face3.png\" alt=\"\" width=\"509\" height=\"149\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face3.png 509w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face3-300x88.png 300w\" sizes=\"auto, (max-width: 509px) 100vw, 509px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2540\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face4.png\" alt=\"\" width=\"622\" height=\"146\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face4.png 622w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face4-300x70.png 300w\" sizes=\"auto, (max-width: 622px) 100vw, 622px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2541\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face5.png\" alt=\"\" width=\"399\" height=\"311\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face5.png 399w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face5-300x234.png 300w\" sizes=\"auto, (max-width: 399px) 100vw, 399px\" \/><\/p>\n<p>Now, we need to import the file &#8220;HC-SR04.stl&#8221; and rotate it 180\u00ba with respect to the X-axis as shown.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2542\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face6.png\" alt=\"\" width=\"311\" height=\"201\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face6.png 311w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face6-300x194.png 300w\" sizes=\"auto, (max-width: 311px) 100vw, 311px\" \/><\/p>\n<p>Make the object hole and place it at coordinate (7.5,45,3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2543\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face7.png\" alt=\"\" width=\"480\" height=\"408\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face7.png 480w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face7-300x255.png 300w\" sizes=\"auto, (max-width: 480px) 100vw, 480px\" \/><\/p>\n<p>Repeat this process with the buzzer file, rotate it 180\u00ba with respect to the X-axis, make it hole and place it at (3.55,28,3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2544\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face8.png\" alt=\"\" width=\"489\" height=\"381\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face8.png 489w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face8-300x234.png 300w\" sizes=\"auto, (max-width: 489px) 100vw, 489px\" \/><\/p>\n<p>For the LEDs strip (robot&#8217;s mouth), we will need to import the file &#8220;LED_round_strip_ws8212.stl&#8221; and repeat the process of rotating the object 180\u00ba with respect to the X-axis, make it hole and place it at coordinate (18,5,3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2546\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face9.png\" alt=\"\" width=\"500\" height=\"339\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face9.png 500w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face9-300x203.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face9-75x50.png 75w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p>In order to add some fancy decorations, we can create some hair, following a similar process used to create the toes or simple que can make the front face rounded as shown.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2547\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face10.png\" alt=\"\" width=\"329\" height=\"276\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face10.png 329w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face10-300x252.png 300w\" sizes=\"auto, (max-width: 329px) 100vw, 329px\" \/><\/p>\n<p>Here we also show some ideas&#8230;<\/p>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2550\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face12.png\" alt=\"\" width=\"416\" height=\"455\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face12.png 416w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face12-274x300.png 274w\" sizes=\"auto, (max-width: 416px) 100vw, 416px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2551\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face13.png\" alt=\"\" width=\"382\" height=\"390\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face13.png 382w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face13-294x300.png 294w\" sizes=\"auto, (max-width: 382px) 100vw, 382px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2549\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face11.png\" alt=\"\" width=\"451\" height=\"456\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face11.png 451w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face11-297x300.png 297w\" sizes=\"auto, (max-width: 451px) 100vw, 451px\" \/> <img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2552\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face14.png\" alt=\"\" width=\"329\" height=\"357\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face14.png 329w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_face14-276x300.png 276w\" sizes=\"auto, (max-width: 329px) 100vw, 329px\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/tinkercad-files\/DYOR%20bPED_face.stl\" target=\"_self\" class=\"emd_dl_green_light\" download>TinkerCAD DYOR bPED face<\/a><\/div>    <style>            \r\n    .emd_dl_green_light {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        box-shadow:inset 0px 1px 0px 0px #c1ed9c;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #9dce2c), color-stop(1, #8cb82b) );\r\n        background:-moz-linear-gradient( center top, #9dce2c 5%, #8cb82b 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#9dce2c', endColorstr='#8cb82b');\r\n        background-color:#9dce2c;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #83c41a;\r\n        display:inline-block;\r\n        color:#ffffff !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:300px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #689324;\r\n    }\r\n    .emd_dl_green_light:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #8cb82b), color-stop(1, #9dce2c) );\r\n        background:-moz-linear-gradient( center top, #8cb82b 5%, #9dce2c 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#8cb82b', endColorstr='#9dce2c');\r\n        background-color:#8cb82b;\r\n    }.emd_dl_green_light:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<p>With all parts created, now you are in position of 3D Printing them.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-large wp-image-3276\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/DYOR_bPED_3D_Printing1.png\" alt=\"\" width=\"491\" height=\"372\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/DYOR_bPED_3D_Printing1.png 491w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/DYOR_bPED_3D_Printing1-300x227.png 300w\" sizes=\"auto, (max-width: 491px) 100vw, 491px\" \/><\/p>","protected":false},"excerpt":{"rendered":"<p>Sorry, this entry is only available in Espa\u00f1ol.<\/p>\n","protected":false},"author":1,"featured_media":3275,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[93,69,13],"tags":[],"class_list":["post-2479","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dyor-bped","category-impresion-3d","category-tinkercad"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/DYOR_bPED_3D_Printing.png","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":3484,"url":"https:\/\/dyor.webs.upv.es\/en\/robotica-2o-eso-mi-primer-robot\/","url_meta":{"origin":2479,"position":0},"title":"ROB\u00d3TICA 2\u00ba ESO (MI PRIMER ROBOT)","author":"Leopoldo Armesto \u00c1ngel","date":"Wednesday May  2nd, 2018","format":false,"excerpt":"Sorry, this entry is only available in Espa\u00f1ol.","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/img8.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2570,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped\/","url_meta":{"origin":2479,"position":1},"title":"DYOR bPED assembly with TinkerCAD","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we show the assembly of DYOR bPED designed with TinkerCAD for 3D Printing. \u00a0 Components: Arduino Nano I\/O Shield (sand) Bluetooth module (dark blue) Powerbank (pink) Ultrasound HC-SR04 (light blue) Buzzer (black) SG90 Servos (dark blue) Ball bearing and rivet Instructions: We will distinguish between the servos\u2026","rel":"","context":"In &quot;DYOR bPED&quot;","block_context":{"text":"DYOR bPED","link":"https:\/\/dyor.webs.upv.es\/en\/category\/robots\/dyor-bped\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_no_background.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2557,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped-basico\/","url_meta":{"origin":2479,"position":2},"title":"DYOR bPED Basic assembly with TinkerCAD for 3D Printing","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we show the assembly of DYOR bPED Basic designed with TinkerCAD for 3D Printing. \u00a0 Components: Arduino Nano I\/O Shield (sand) Battery holder (black) Ultrasound HC-SR04 (light blue) Buzzer (black) SG90 Servos (dark blue) Ball bearing and rivet Instructions: We will distinguish between the servos required for\u2026","rel":"","context":"In &quot;DYOR bPED&quot;","block_context":{"text":"DYOR bPED","link":"https:\/\/dyor.webs.upv.es\/en\/category\/robots\/dyor-bped\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/01\/bPED_basico.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":1469,"url":"https:\/\/dyor.webs.upv.es\/en\/tinkercad-bluetooth\/","url_meta":{"origin":2479,"position":3},"title":"TinkerCAD Design of HC-06 Bluetooth Module","author":"soporte","date":"Wednesday March  8th, 2017","format":false,"excerpt":"Learn how to design a simplified model of HC-06 Bluetooth module for your DYOR robot in TinkerCAD. Here, we will show the necessary steps to design the HC-06 Bluetooth module for your DYOR robot with TinkerCAD. It is a basic design so you can easily reproduce it. The main purpose\u2026","rel":"","context":"In &quot;tinkercad&quot;","block_context":{"text":"tinkercad","link":"https:\/\/dyor.webs.upv.es\/en\/category\/diseno\/tinkercad\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/bluetooth.png?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/bluetooth.png?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/bluetooth.png?resize=525%2C300&ssl=1 1.5x"},"classes":[]},{"id":1348,"url":"https:\/\/dyor.webs.upv.es\/en\/diseno-tinkercad-de-un-zumbador\/","url_meta":{"origin":2479,"position":4},"title":"Dise\u00f1o TinkerCAD de un zumbador","author":"soporte","date":"Sunday March  5th, 2017","format":false,"excerpt":"Aprende a dise\u00f1ar un modelo simplificado del m\u00f3dulo de sonido (zumbador)\u00a0para tu robot DYOR. A continuaci\u00f3n os mostraremos los pasos necesarios para dise\u00f1ar el m\u00f3dulo de sonido (zumbador) para vuestro robot DYOR. El modelo a dise\u00f1ar es un modelo simplificado para que f\u00e1cilmente lo pod\u00e1is hacer en el aula que\u2026","rel":"","context":"In &quot;tinkercad&quot;","block_context":{"text":"tinkercad","link":"https:\/\/dyor.webs.upv.es\/en\/category\/diseno\/tinkercad\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/buzzer_3.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":1308,"url":"https:\/\/dyor.webs.upv.es\/en\/tinkercad-hc-sr04\/","url_meta":{"origin":2479,"position":5},"title":"Dise\u00f1o TinkerCAD Ultrasonidos HC-SR04","author":"soporte","date":"Saturday March  4th, 2017","format":false,"excerpt":"Aprende a dise\u00f1ar un modelo simplificado del sensor de ultrasonidos HC-SR04 para tu robot DYOR. A continuaci\u00f3n os mostraremos los pasos necesarios para dise\u00f1ar el sensor de ultrasonidos HC-SR04 para vuestro robot DYOR. El modelo a dise\u00f1ar es un modelo simplificado para que f\u00e1cilmente lo pod\u00e1is hacer en el aula.\u2026","rel":"","context":"In &quot;tinkercad&quot;","block_context":{"text":"tinkercad","link":"https:\/\/dyor.webs.upv.es\/en\/category\/diseno\/tinkercad\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/hcsr04_7.png?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/hcsr04_7.png?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/03\/hcsr04_7.png?resize=525%2C300&ssl=1 1.5x"},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/2479","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=2479"}],"version-history":[{"count":0,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/2479\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/3275"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=2479"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=2479"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=2479"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}