Frame Design⌗

The design was made taking into account the multiple vents and panels of the robot seen on the films, so in a future it could have space to accommodate little systems for their movement. The measurements took into account to make the frame where taken from the website wwww.astromech.com

Head mechanisim⌗

Solidworks design

The operation of this mechanism is simple it consist on a motor in the center of the head which gives action to a axial gear that moves smoothly thanks to the help of a lazy Susan that is attached to the from and the base of the head.

Arduino program

 else if (letter == 'E')
 {
   digitalWrite(LedR, LOW);
    randNumber = random(1, 16);
    digitalWrite(CABD, LOW);
    digitalWrite(CABA, HIGH);
    myDFPlayer.play(randNumber);
    Serial.println(randNumber);

    Serial.println(F("Cab Izq"));
    digitalWrite(LedA, HIGH);
    delay(10000);
    digitalWrite(LedA, LOW);
    digitalWrite(LedR, HIGH);
    digitalWrite(CABD, LOW);
    digitalWrite(CABA, LOW);
  }
  else if (letter == 'F')
  {
    digitalWrite(LedR, LOW);
    randNumber = random(1, 16);
    digitalWrite(CABD, HIGH);
    digitalWrite(CABA, LOW);
    myDFPlayer.play(randNumber);
    Serial.println(randNumber);
    Serial.println(F(" Cab Der"));
    digitalWrite(LedA, HIGH);
    delay(10000);
    digitalWrite(LedA, LOW);
    digitalWrite(LedR, HIGH);
    digitalWrite(CABD, LOW);
    digitalWrite(CABA, LOW);
  }

Center leg⌗

Solidworks Design

Simple scissor mechanism for the center leg to come up or down.

Arduino Code

if (letter == 'G')
    {
      randNumber = random(1, 16);
      digitalWrite(LedA, LOW);
      digitalWrite(APieCD, HIGH);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, HIGH);
      digitalWrite(BPieCA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Pie Central Arriba"));
      digitalWrite(LedA, HIGH);
      delay(1500);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, LOW);

    }
    else if (letter == 'H')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, HIGH);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, HIGH);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Pie Central Abajo"));
      digitalWrite(LedA, HIGH);
      delay(300);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, LOW);
    }

Foot⌗

Solidworks Design

System of gears to give the system more torque and pull force.

Arduino Code

if (letter == 'C')
   {
     randNumber = random(1, 16);
     digitalWrite(LedA, LOW);
     digitalWrite(IZQD, LOW);
     digitalWrite(BIZQD, LOW);
     digitalWrite(IZQA, LOW);
     digitalWrite(BIZQA, LOW);
     digitalWrite(DERD, HIGH);
     digitalWrite(BDERD, HIGH);
     digitalWrite(DERA, LOW);
     digitalWrite(BDERA, LOW);
     myDFPlayer.play(randNumber);
     Serial.println(randNumber);
     Serial.println(F("Derecha"));
     digitalWrite(LedA, HIGH);
     delay(2500);
     digitalWrite(LedA, LOW);
     digitalWrite(LedR, HIGH);
   }
   else if (letter == 'D')
   {
     digitalWrite(LedR, LOW);
     randNumber = random(1, 16);
     digitalWrite(IZQD, LOW);
     digitalWrite(IZQA, HIGH);
     digitalWrite(DERD, LOW);
     digitalWrite(DERA, LOW);
     digitalWrite(BIZQD, LOW);
     digitalWrite(BIZQA, HIGH);
     digitalWrite(BDERD, LOW);
     digitalWrite(BDERA, LOW);
     myDFPlayer.play(randNumber);
     Serial.println(randNumber);
     Serial.println(F("Izquierda"));
     delay (2500);
           digitalWrite(LedA, LOW);
     digitalWrite(LedR, HIGH);

   }
else if (letter == 'A')
   {
     digitalWrite(LedR, LOW);
     randNumber = random(1, 16);
     digitalWrite(IZQD, HIGH);
     digitalWrite(IZQA, LOW);
     digitalWrite(DERD, LOW);
     digitalWrite(DERA, HIGH);
     digitalWrite(BIZQD, HIGH);
     digitalWrite(BIZQA, LOW);
     digitalWrite(BDERD, LOW);
     digitalWrite(BDERA, HIGH);
     myDFPlayer.play(randNumber);
     Serial.println(randNumber);
     Serial.println(F("Adelante"));
     digitalWrite(LedA, HIGH);
     delay(1000);
     digitalWrite(LedA, LOW);
     digitalWrite(LedR, HIGH);

   }

    else if (letter == 'B')
   {
     digitalWrite(LedR, LOW);
     randNumber = random(1, 16);
     digitalWrite(IZQD, LOW);
     digitalWrite(IZQA, HIGH);
     digitalWrite(DERD, HIGH);
     digitalWrite(DERA, LOW);
     digitalWrite(BIZQD, LOW);
     digitalWrite(BIZQA, HIGH);
     digitalWrite(BDERD, HIGH);
     digitalWrite(BDERA, LOW);
     myDFPlayer.play(randNumber);
     Serial.println(randNumber);
     Serial.println(F("Atras"));
     digitalWrite(LedA, HIGH);
     delay(1000);
     digitalWrite(LedA, LOW);
     digitalWrite(LedR, HIGH);

   }

Results⌗

Circuits

Arduino Code Complete

#include "Arduino.h"
#include "SoftwareSerial.h"
#include "DFRobotDFPlayerMini.h"
SoftwareSerial mySoftwareSerial(10, 11); // RX, TX
DFRobotDFPlayerMini myDFPlayer;
void printDetail(uint8_t type, int value);

int IZQD = 2;
int IZQA = 3;
int BIZQD = A1;
int BIZQA = A0;
int DERD = 6;
int DERA = 7;
int BDERD = 12;
int BDERA = 13;
int CABD = 5;
int CABA = 4;
int LedR = 8;
int LedA = 9;
int APieCD = A3;
int APieCA = A2;
int BPieCD = A4;
int BPieCA = A5;

long randNumber;

void setup() {

  pinMode(LedR, OUTPUT);
  pinMode(LedA, OUTPUT);
  pinMode(IZQD, OUTPUT);
  pinMode(IZQA, OUTPUT);
  pinMode(DERD, OUTPUT);
  pinMode(DERA, OUTPUT);
  pinMode(BIZQD, OUTPUT);
  pinMode(BIZQA, OUTPUT);
  pinMode(BDERD, OUTPUT);
  pinMode(BDERA, OUTPUT);
  pinMode(CABD, OUTPUT);
  pinMode(CABA, OUTPUT);
  pinMode(APieCD, OUTPUT);
  pinMode(APieCA, OUTPUT);
  pinMode(BPieCD, OUTPUT);
  pinMode(BPieCA, OUTPUT);
  mySoftwareSerial.begin(9600);
  Serial.begin(115200);

  randomSeed(analogRead(0));


  Serial.println();
  Serial.println(F("DFRobot DFPlayer Mini Demo"));
  Serial.println(F("Initializing DFPlayer ... (May take 3~5 seconds)"));
  Serial.println();
  Serial.println(F("=================================================================================================================================="));
  Serial.println(F(" [A] Adelante"));
  Serial.println(F(" [B] Atras"));
  Serial.println(F(" [C] Derecha"));
  Serial.println(F(" [D] Izquierda"));
  Serial.println(F(" [E] Cabeza Izq"));
  Serial.println(F(" [F] Cabeza Der"));
  Serial.println(F(" [G] Pie central Arriba"));
  Serial.println(F(" [H] Pie Central Abajo"));
  Serial.println(F(" [I] Stop"));
  Serial.println();
  Serial.println(F("================================================================================================================================="));

  if (!myDFPlayer.begin(mySoftwareSerial)) {
    Serial.println(F("Unable to begin:"));
    Serial.println(F("1.Please recheck the connection!"));
    Serial.println(F("2.Please insert the SD card!"));
    while (true) {
      delay(0);
    }
  }
  Serial.println(F("DFPlayer Mini online."));

  myDFPlayer.volume(10);  //Set volume value. From 0 to 30
}

void loop() {
  digitalWrite(LedR, HIGH);
  if (Serial.available() > 0)
  {
      digitalWrite(IZQD, LOW);
      digitalWrite(IZQA, LOW);
      digitalWrite(DERD, LOW);
      digitalWrite(DERA, LOW);
      digitalWrite(BIZQD, LOW);
      digitalWrite(BIZQA, LOW);
      digitalWrite(BDERD, LOW);
      digitalWrite(BDERA, LOW);
      digitalWrite(CABD, LOW);
      digitalWrite(CABA, LOW);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, LOW);      


    char letter = Serial.read();

    if (letter == 'C')
    {
      randNumber = random(1, 16);
      digitalWrite(LedA, LOW);
      digitalWrite(IZQD, LOW);
      digitalWrite(BIZQD, LOW);
      digitalWrite(IZQA, LOW);
      digitalWrite(BIZQA, LOW);
      digitalWrite(DERD, HIGH);
      digitalWrite(BDERD, HIGH);
      digitalWrite(DERA, LOW);
      digitalWrite(BDERA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Derecha"));
      digitalWrite(LedA, HIGH);
      delay(2500);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
    }
    else if (letter == 'D')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(IZQD, LOW);
      digitalWrite(IZQA, HIGH);
      digitalWrite(DERD, LOW);
      digitalWrite(DERA, LOW);
      digitalWrite(BIZQD, LOW);
      digitalWrite(BIZQA, HIGH);
      digitalWrite(BDERD, LOW);
      digitalWrite(BDERA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Izquierda"));
      delay (2500);
            digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);

    }
 else if (letter == 'A')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(IZQD, HIGH);
      digitalWrite(IZQA, LOW);
      digitalWrite(DERD, LOW);
      digitalWrite(DERA, HIGH);
      digitalWrite(BIZQD, HIGH);
      digitalWrite(BIZQA, LOW);
      digitalWrite(BDERD, LOW);
      digitalWrite(BDERA, HIGH);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Adelante"));
      digitalWrite(LedA, HIGH);
      delay(1000);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);

    }

     else if (letter == 'B')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(IZQD, LOW);
      digitalWrite(IZQA, HIGH);
      digitalWrite(DERD, HIGH);
      digitalWrite(DERA, LOW);
      digitalWrite(BIZQD, LOW);
      digitalWrite(BIZQA, HIGH);
      digitalWrite(BDERD, HIGH);
      digitalWrite(BDERA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Atras"));
      digitalWrite(LedA, HIGH);
      delay(1000);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);

    }
    else if (letter == 'E')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(CABD, LOW);
      digitalWrite(CABA, HIGH);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);

      Serial.println(F("Cab Izq"));
      digitalWrite(LedA, HIGH);
      delay(10000);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(CABD, LOW);
      digitalWrite(CABA, LOW);


    }
    else if (letter == 'F')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(CABD, HIGH);
      digitalWrite(CABA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F(" Cab Der"));
      digitalWrite(LedA, HIGH);
      delay(10000);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(CABD, LOW);
      digitalWrite(CABA, LOW);
    }
    if (letter == 'G')
    {
      randNumber = random(1, 16);
      digitalWrite(LedA, LOW);
      digitalWrite(APieCD, HIGH);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, HIGH);
      digitalWrite(BPieCA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Pie Central Arriba"));
      digitalWrite(LedA, HIGH);
      delay(1500);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, LOW);

    }
    else if (letter == 'H')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, HIGH);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, HIGH);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Pie Central Abajo"));
      digitalWrite(LedA, HIGH);
      delay(300);
      digitalWrite(LedA, LOW);
      digitalWrite(LedR, HIGH);
      digitalWrite(APieCD, LOW);
      digitalWrite(APieCA, LOW);
      digitalWrite(BPieCD, LOW);
      digitalWrite(BPieCA, LOW);
    }
    else if (letter == 'I')
    {
      digitalWrite(LedR, LOW);
      randNumber = random(1, 16);
     digitalWrite(IZQD, LOW);
      digitalWrite(IZQA, LOW);
      digitalWrite(DERD, LOW);
      digitalWrite(DERA, LOW);
      myDFPlayer.play(randNumber);
      Serial.println(randNumber);
      Serial.println(F("Stop"));
    }
  }


  static unsigned long timer = millis();

  if (millis() - timer > 3000) {
    timer = millis();
  }
}

Mini R2-D2

Frame Design⌗

Head mechanisim⌗

Center leg⌗

Foot⌗

Results⌗