Idea: My cat has a “bristle-bot” style toy, but it’s not a favorite. He’ll watch it as it wanders randomly around the floor, but he doesn’t really engage with a toy unless it “hides” — goes behind other objects so he can strategize about where it’s going to show up next.
The style of motion in these robots is kind of neat. There are no wheels. Instead, they operate with vibration. There’s something insect-like about the movement.
Can I make a bristle-bot toy that I can control with my phone so my cat and I can have fun together? Yes… Well, I made a toy. I didn’t succeed in engaging my cat.
I experimented with a couple of different designs. The parts list for this version includes:
Bluetooth controller (I used Redbear Labs’ BLE Nano)
2 6mm 3v disc-style vibration motors for motion.
2 LEDs for eyeballs and status indication (disconnect: flash, connected: solid).
A pair of transistors for switching current to the motors.
A small LIPO battery (150 maH).
A power switch.
The design also includes a 3d-printed mouse body and a custom PCB to keep everything compact.
The operating principle is that since vibration motors are mounted to the sides of the body, when a motor is engaged, the vibration will cause the legs on one side of the body to flex. If both motors operate at roughly the same frequency, engaging both motors simultaneously will move the mouse forward.
I designed parts in Rhino 3d with Grasshopper. I 3d printed parts with a Form Labs Form 2, using the standard Grey resin.
While the 2 distinct vibration motors offer some control over the direction of the mouse, it’s not particularly precise. It’s hard to steer around objects.
In practice, any vibration motors I tried seemed to be somewhat unbalanced (presumably operating at different frequencies), so motion is biased to one side.
Battery wiring initially took up a lot of space. I had to trim the leads from the LIPO battery a recrimp the JST connector. This was a pain to learn how to do. The Engineer PA-09 Micro Connector Crimpers turned out to be the right tool.
The Xaar 128 is a piezoelectric inkjet printhead used in large format vinyl sign-making. It *might* be useful in 3d printing, conductive ink, or masking applications.
Why piezo? TLDR: Most inkjet printheads are “thermal”: They work by superheating a fraction of the ink in a chamber, turning it into gas, which expands to force the remainder of the ink out of a nozzle. Superheating limits the range of materials that can be used in these printheads. Piezoelectric printheads are less common, and since they use a mechanical operation to force fluid out of a nozzle, they don’t have to modify the state of the fluid to operate, and can work with a broader range of materials.
While I planned to try some different materials with the Xaar 128, I started out with the Solvent Ink that it’s built for. I was mostly using used printheads that I could buy inexpensively on eBay, since new Xaar 128s are pretty expensive. Nozzle clogs were a big problem. I had to flush the nozzles every time I sat down to work. This wasn’t really compatible with an after-hours hacking schedule.
I used flexible flat cable (FFC or FPC) to connect my board to the printhead. I’ve been burnt by overflexing ribbon cable before, so I thought this was a good idea. But I didn’t properly anchor the connection points. After some use, I started getting erratic behavior and stalling from the printhead. After a lot of debugging, I found that the leads on one end of my cable had overflexed and would break contact at certain points in the movement. Lesson: anchor connection ends so that no flexing happens near the exposed leads.
I was never able to consistently push anything more viscous than solvent ink through the printheads. Epoxy or photo curing resin is much more viscous (eg. ~1000-2000+ cp vs ~10-20). This means these heads may be useful for something like depositing a low viscosity binder for powder printing, but probably not for depositing a material that can harden into a solid by itself. I’d love to find a printhead that can.