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Table of Contents
Build an Arduino-powered talking robot head! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 5: Design your robot head: Making a LED matrix for the mouth. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 7: Making the mouth LED matrix: Soldering control wires onto the LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
The head is still an on-going project so any comments on anything here are more than welcome!
Special thanks to Liz Arum for helping me with everything!
Update: Due to popular request I now have now added a video of the robot talking and expressing itself! Enjoy at your leisure!
Image Notes
1. Linux penguin!
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. This is the Amplifying chip.
2. Solder the wire onto this side of this resistor (R7)
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. I didn't have a picture of the original designing process, but this is close enough to show what I mean (I hope).
Image Notes
1. Tape onto and cut out of the box.
Step 5: Design your robot head: Making a LED matrix for the mouth.
Each LED in the mouth will light up independently. To do that you need to make an LED matrix for the mouth. (For an idea on what is a LED matrix, see picture 1)
Take the piece of paper that is supposed to be the mouth and, with a pencil and ruler, Divide up the piece of paper into 36 parts (9 X 4), One for each LED in the grid.
After you have done that, tape the piece of paper to a piece of wood and being careful not to drill through the floor (This has happened to me so I recommend drilling on
top of a cardboard box.) Drill holes where the lines intersect with a 1/4 inch drill bit, so that your LEDs fit snuggly. The size of the drill bit is obviously dependent on the
size of your LEDs so use a smaller drill bit for smaller LEDs. (Start small and work your way up!) Look at pictures 2&3 for clarification on the drilling/marking.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. This is the LED matrix. The LEDs can all light up independently to give the
impression of talking, not talking, etc. This is what you will be making now.
2. All of the individual wires coming from the LEDs and plugged into a breadboard
where they are controlled by 3 TLC5940NT LED drivers.
3. These eyes have RGB LEDs behind them, they change colors depending on
the "mood" of the robot.
Image Notes
1. A piece of paper with 36 Intersections.
Image Notes
1. Don't forget the tape in the corners!
2. Tape
3. Tape
4. Tape
5. Opps! Oh well...
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Test your LEDs before soldering them in! It looks really bad if you have one
LED that is dimmer than the rest.
Image Notes
1. It helps to solder the LEDs in neat rows like this. Just align the LEDs with the
short wire on one side, and the long on the other.
2. Short wire (Cathode).
3. Long wire (Anode).
Image Notes
1. A stripped wire to connect the world!
Step 7: Making the mouth LED matrix: Soldering control wires onto the LEDs.
Solder long wires that can fit into a breadboard (22 gauge) onto all the LED cathode leads. These wires will control the LEDs. Afterwards be sure to insulate all the
individual wires with electrical tape(not fun) or heat shrink tubing(recommended).
In addition to soldering wires onto all of the LEDs Cathode leads, solder 2 or 3 wires onto the Anode part of the grid (The part that is all soldered together). These wires
will serve as power supples distributing power all throughout the grid. They will be connected to 5V.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Solder long wires onto ALL the LED leads. (This was just made for picture
purposes so i didn't)
Image Notes
1. Solder wires onto the leads that have been all soldered together (the
Anodes). These 2 wires will serve as your universal power supples for all the
LEDs in the grid.
2. Solder wires onto the grid part of the grid (the Anodes). These wires will
serve as universal power supples, they will supply power to all the LEDs.
Image Notes
1. This is aproximately what it should look like when you are done soldering the
wires on. Notice that I insulated some wires with electrical tape(annoying), and
some with heat shrink tubing(recommended).
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Wikipedia!
Image Notes
1. servo.
2. servo.
3. Servo control wire. (This will need an extension. Some ribbon cable should to
the trick. Just solder some male headers on each side of the ribbon cable
extension.)
4. Ditto, look at the comment on the left.
5. Wire to move eyebrows.
Image Notes
1. Eyebrow (Piece of electrical tape folded in half) attached to the wire.
2. Instructables.com!
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Hot glue the grid in!
Image Notes
1. Hot glue.
2. Hot glue.
3. Hot glue on inside of box.
Image Notes
1. Soldered, insulated and ready to go!
Step 11: Install the RGB LEDs inside of the robot head.
Install the LEDs inside of the robot head by putting them where you want them and then folding and taping the wires to the inside of the box. Putting a drinking straw
under the LED also helps to keep it in place. (See pictures for clarification)
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Servo.
2. RGB LED laid untop of a straw hot glued to the inside of the box.
Image Notes
1. RGB LED.
2. Straw.
3. The LED's wires are taped onto the side of the box somewhere over here...
Image Notes
1. A sheet of paper towel taped to the inside of the eyes to diffuse the light coming
from the RGB LED.
Image Notes
1. Piece of paper glued to the eye hole.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
...
...
...
...
| 10
19 | 5V
| 11
18 | GSCLK (Ard pin 3)
| 12
17 | SOUT (Connected to the SIN of the next TLC in the Daisychain)
| 13
16 | XERR
Out 14 | 14
15 | LED Out 15
-----------------------------
Note: we are Daisychaining 3 TLCs so the SIN of the first TLC is connected to Arduino pin 11. The rest of the TLCs have their SIN connected to the SOUT of the TLC
preceding it.
All the BLANKs are connected to each other (BLANK of TLC1 is connected to BLANK of TLC2 etc...)
All the XLATs are connected.
All the SCLKs are connected.
All the GSCLKs are connected.
All the XERRs are connected.
Also plug in 2 or 3 Electrolytic capacitors to the breadboard's Ground and Power (Negative on the capacitor going to Ground, Positive to 5V). The amount of charge that it
holds is not that important but it should be rated for 5V or above. These capacitors will act as a filter, filtering out all the imperfections(noise) in the voltage supply that the
TLCs produce. This is important because the Waveshield that we will be using shares the same ground as the TLCs and REALLY doesn't like electrical noise (it makes a
weird, clicking noise).
Image Notes
1. Plug the capacitors somewhere between the TLCs and the cables that go to
the Freeduino's power supply (like here).
Image Notes
1. TLC Pin 28 (LED Out 0) is connected to a line on the LED connection side of
the breadboard to make it easier to connect LEDS to the TLCs in a straight line.
2. LED leads are connected in a straight line.
3. LED Out 15 is also connected to the LED connections side of the breadboard
by a small wire.
4. Pin 1
5. Pin 14.
Image Notes
1. There is a small notch on this side of the TLC, it tells you what side pin 1 is
on. It is represented in the typed wiring schematic by a U on the top.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
1 2 3 4 5 6 7 8
10 11 12 13 14 15 16 17
19 20 21 22 23 24 25 26
28 29 30 31 32 33 34 35
Now is also a good time to plug in your RGB LED eyes to the TLCs so here is the pin outs...
RGB LED eyes:
Left: R G B
36 40 38
Right: R G B
37 41 39
Don't forget to plug in the universal power wires for The Grid and RGB LEDs into 5V!
Image Notes
1. Plug this LED into LED OUT 0 of the TLCs.
2. Plug into LED OUT 1.
3. LED OUT 2
4. LED OUT 3
5. LED OUT 4
6. LED OUT 5
7. LED OUT 6
8. LED OUT 7
9. LED OUT 8
10. LED OUT 9
11. LED OUT 10
12. I think you get the idea.....
13. LED OUT 35
Image Notes
1. Both RGB LED connections. (6 wires total) LED OUT Pins 36-41. Group the
Colors of the LEDs in pairs. ie. Left Red lead p.36, Right Red lead p. 37. L Blue
38. R Blue 39. L Green 41. R Green 42.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
Image Notes
1. Pins 43 and 44
2. 3.3K resistors going to 5V
3. Left and right servo control pins
Step 16: You are now entering the land of software and code! (mostly)
Please no trespassing...
File Downloads
Step 19: Download the improved, high-capacity supporting (Somewhat), Waveshield library.
Download the new improved Adafruit waveshield from Google code (Thank you Mr Fat16 for making this improved library): code.google.com/p/wavehc/
Again stick the unzipped folder in the hardware/libraries/ folder.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
File Downloads
Image Notes
1. Connect the GND on the Waveshield Freeduino to the GND on the TLC Freeduino.
2. Connect the Analog pin 4 on the Waveshield Freeduino to the Analog pin 4 on the TLC Freeduino. (This will be the Serial Data Line.)
3. Connect the Analog pin 5 of the Waveshield Freeduino to the Analog pin 5 of the TLC Freeduino. (This will be the Serial Clock Line)
4. The wire that you soldered here in step two should be plugged into Analog Input pin 1 on the TLC controlling Freeduino. (If soldering this wire never happened or
doesn't ring a bell, read step two over again.)
5. This wire should be connected to Analog Input pin 1 on the TLC controlling Freeduino.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
File Downloads
File Downloads
File Downloads
Step 26: Mount everything on the robot head box and you're done!
Mount all of the Freeduinos onto the back of the box with wires. Close the top flap of the box with wires and you're done! Now if only it could check my email.
Hmmmm.......
Thank you for reading this Instructable! Comments are always welcome on anything!
Image Notes
1. Wire poked through the hole in the Freeduino and poked through the cardboard.
2. Wire.
3. Wire
4. Wire
5. Wire
6. Wire
7. Back of the robot head.
Image Notes
1. Linux penguin!
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
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Comments
23 comments Add Comment
gudenaurock says:
1740 says:
WOW
chosenone3 says:
I just watched the video and i can say that this is one of the coolest arduino projects I've seen so far :]
And I was wondering how did you get it to speak so clear ,I mean it sounds like a real human voice.
Would it be possible to get same results with pc (Besides MS sam voice which realy sucks)?
xtremd says:
Enki-][ says:
willrandship says:
dpdesigns says:
very cool robot head. I've been looking for something to do with my arduino and this gives me some inspiration.
xtremd says:
I'm very glad that you like it! If you need some help with something related to this, please don't hesitate to ask.
natfish says:
congrats! I'm glad you finished your robot. Whatever happened to your walking/dancing soda can?
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
davewking says:
xtremd says:
mfleisig says:
jefskil says:
xtremd says:
Kiteman says:
It talks?
The mouth "moves"?
We need to see video!
xtremd says:
cowscankill says:
Yay!
xtremd says:
The aforementioned video is now embedded into the intro step. I hope that you guys find it informative!
ElectronicsNub says:
what exactly does it do?? i've never heard of this arduino stuff before so i'm wondering what these do.
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/
xtremd says:
ElectronicsNub says:
In fact, i was wondering both but you cleared it up for me. Thanks!
beardy says:
tigoe says:
http://www.instructables.com/id/Build-an-Arduino-powered-talking-robot-head/