If the name “Stewart platform” doesn’t ring a bell, the video below will help you out. [Team Microgoats] built a small version of the mechanical system commonly seen in flight simulators, opting for 3 DOF to simplify the design. Their PIC32-controlled steppers can wobble and weave the table in response to inputs from an MPU-6050 six-axis accelerometer embedded in the base of a 3D-printed goat. Said goat appears to serve no other role in the build, but goats are cool, so why not? And if you’ve ever seen a mountain goat frolicking across a sheer vertical rock face like it was walking across a parking lot, you’ll understand the connection to the balance and control offered by a Stewart platform.
[David Brown]’s entry for The Hackaday Prize is a design for a tool that normally exists only as an expensive piece of industrial equipment; out of the reach of normal experimenters, in other words. That tool is a 6-axis micro manipulator and is essentially a small robotic actuator that is capable of very small, very precise movements. It uses 3D printed parts and low-cost components.
The manipulator consists of six identical actuators, each consisting of a single piece of SLS 3D printed nylon with a custom PCB to control a motor and read positional feedback. The motor moves the central pivot point of the 3D printed assembly, which in turn deflects the entire piece by a small amount. By anchoring one point and attaching the other, a small amount of highly controllable movement can be achieved. Six actuators in total form a Gough-Stewart Platform for moving the toolhead.
Interestingly, this 6-Axis Micro Manipulator is a sort of side project. [David] is interested in creating his own digital UV exposer, which requires using UV laser diodes with fiber optic pig tails attached. In an industrial setting these are created by empirically determining the optimal position of a fiber optic with regards to the laser diode by manipulating it with a micro manipulator, then holding it steady while it is cemented in place. Seeing a distinct lack of micro manipulators in anything outside of lab or industrial settings, and recognizing that there would be applications outside of his own needs, [David] resolved to build one.
[Abhishek] describes Peeqo as a “personal desktop robotic assistant” that looks like “the love child of an Amazon Echo and a Disney character.” We’re not sure about that last part — we’re pretty sure [Bender Bending Rodriquez] would fail a paternity suit on this one. Just look at that resemblance.
Whatever Peeqo’s parentage may be, it’s a pretty awesome build, and from the look of [Abhishek]’s design notes, he put a lot of thought into it, and a lot of work too. The build log reveals 3D-printed parts galore, custom-etched PC boards, and a hacked Raspberry Pi to both listen for voice commands and play responses in the form of animated GIFs on Peeqo’s ‘face’. The base has six modified RC servos to run the Gough-Stewart platform that lets Peeqo emote, and the head contains pretty much all the electronics. Beyond the hardware, a ton of programming went into giving Peeqo the ability to communicate through head gestures and GIFs that make sense for the required response.
Whether it’s bopping along to the tunes on your playlist or motivating you to lay off the social media with [Will Ferrell]’s flaming angry eyes, Peeqo looks like a ton of fun to build and use. Conveniently enough, [Abhishek] has shared all his files so you can build one too.