https://www.nikovladimirov.com/about daily 0.75 2023-10-23 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/d7baeae1-7173-4673-bebb-52bb1b025850/Screenshot+2023-10-20+at+11.23.30+AM.jpg https://www.nikovladimirov.com/work daily 1.0 2025-06-05 https://www.nikovladimirov.com/work/marionette monthly 0.5 2025-06-04 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/0930f866-77aa-4b6f-9b53-e57d50c0224d/SpidahBahtVid.gif Work - MarIOnette MarIOnette runs on Windows, MacOS, and Linux. It supports a large range of actuators like servos, PWM signals, stepper motors, LEDs (neopixel or single channel), and digital output pins https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/26899007-33f1-41ef-a925-e2fb941278ec/DrawBotV2.gif Work - MarIOnette Inverse kinematics are resolved on the fly by Blender directly once the user properly sets up the rig. An in-depth tutorial was created to walk users through the entire process of building and setting up a drawing robot to familiarize people with the tool. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/40026d6a-a8e7-4488-a117-cf00fcd3ddf6/Piro1.gif Work - MarIOnette Different types of actuators can be mixed together to create compelling and dynamic performances https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/66a15bc1-f5ee-446b-8ece-5ffd5c910b16/LEDRing.gif Work - MarIOnette Indexable LEDs like neopixels can be controlled and animated using Blender's built-in Geometry Nodes feature https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/a3ce0f93-7216-43de-93a6-d4d42aaa5332/PiroIrisSmoke.gif Work - MarIOnette Blender serves as an amazing visualization tool; users can test out animations and motions digitally before moving to the real thing and introducing wear and tear on components https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b68ff578-dba6-4b51-b21f-3fd274b05aad/ElmoInput1.gif Work - MarIOnette With a special type of actuator (Dynamixel or similar Bus Servo), reverse animation is also possible, where the user creates an animation by directly manipulating the physical model https://www.nikovladimirov.com/work/piro monthly 0.5 2023-10-23 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/04c69637-5e57-465a-8152-eafd1bc15ccc/Choreo1.gif Work - Piro I worked with a dance choreographer to tell the story of Piro. Together we created motifs to an original soundtrack. The 4.5 minute routine was on display at Salone in Milan, Italy in the summer of 2022 to thousands of guests. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/dd0f8716-4a84-4b7b-b9ad-ae03d93156ce/SmokeRingSlowMo.gif Work - Piro The smoke rings added a dynamic and surprising moment to the performance. A fully custom-built assembly was tuned to generate reliable smoke rings for continuous 10-12 hour run times https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/34cc2fe5-0975-4423-82ce-83c92c6731c1/Robot+Reborn.gif Work - Piro MarIOnette was used extensively to prototype and explore various movements, light patterns, and sequences https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/053e68d9-e8e9-419a-8805-e15830ec6650/ThomasRobot.gif Work - Piro One of the robots had an interactive element and used computer vision to follow visitors. A thermal camera was used to mitigate privacy concerns and simplify detection https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/a5b55e23-9b6a-4fa4-b622-c67aef0aa084/IRISMECH.gif Work - Piro To prevent smoke leakage in between routines, an iris mechanism was integrated into the aperture of the robots https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/ea88b5d8-bd58-4441-82d6-ec4372304cd9/OverheadBuildLapseV2.gif Work - Piro In total, 7 robots and 14 smoke cartridges were built in order to minimize downtime. The robots ran for over 80 hours, and the only service required was the refilling of the smoke cartridges at the end of each day https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/ba187b06-23b0-4fc8-a059-617d943ac6f7/VapeBuildLapse2.gif Work - Piro https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/0de02a8c-0353-45fa-9acf-babc0b78f615/PiroTourstopV1.gif Work - Piro Piro now sits as a permanent installation at IDEO's headquarters in San Francisco. A raspberry pi runs the thermal camera detection, plays video, and runs a sample animation from the Milan showcase. I built a custom webpage to monitor the robot, and it has been running with minimal maintenance for over a year. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/de84c3ab-13a0-4558-a904-ea6820cf97fa/Piro+Single.gif Work - Piro In April 2024, we returned to Milan and showcased the next evolution of Piro. The new model is a static diffuser, using water-based atomization and the same familiar smoke ring kiss. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/9005d086-d64d-4dbe-903f-f15c420c22af/Piro+Multiple.gif Work - Piro We built 6 models for the show to minimize downtime in case one of the three on display encountered an issue. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/cde7df14-915a-41fa-83b0-0a8ee050fb83/Piro+Screen.gif Work - Piro All of the models can be controlled simultaneously with a rechargeable touch screen remote running a custom GUI on an ESP-32 microcontroller. https://www.nikovladimirov.com/work/lyric monthly 0.5 2023-10-25 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/6cd27bee-a0f9-4e44-bbe9-aae48e79ff19/Screenshot+2023-10-24+at+12.49.07+PM.png Work - Lyric The idea behind Lyric was to create a device that could blend in to your home and fit into any lifestyle; both athletes and average people could find value from the guided instructions on the LCD. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/4546f6d8-80d6-4465-ab13-32d25de74280/Motion+Blur.600x338.346+copy.png Work - Lyric We chose a soft-touch ABS plastic and a design that tried to mimic everyday objects in the home. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/9f35f96c-7eca-4e34-9b77-af8eb3f20b97/Motion+Blur.600x338.315.png Work - Lyric Lyric was sold in 4 colors unlike many of the the other massage devices out in the market. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/37c2431b-48e6-422f-8ea8-8a321dac393d/20201204_085707.jpg Work - Lyric We prototyped the charging dock, accessory tray, and extension handle roughly before incorporating electronics into the model. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/fb7c4bc8-6915-4044-8cf0-157a6edea8bc/Large+Calf+1.jpg Work - Lyric Because we were limited by prototype-level LCD modules, the display was mounted farther back in the model We wanted to minimize the distortion from a curved window. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/8fd17949-9d41-440b-b17a-d491936bee0b/20201218_104747.jpg Work - Lyric We experimented with several geometries by quickly CNC-milling acrylic and polishing until clear. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/56342c21-f33d-4c3f-828f-01922ba0db26/Lyric+Accessories.gif Work - Lyric An optional extension handle can be added to the device. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/65004638-67df-4686-aaab-8214cbf55fb7/20201211_112018.jpg Work - Lyric We tested many handle geometries to find what was most useful as an extension handle for hard-to-reach areas. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/4d49df9f-508d-4b72-a6fb-f77b9910283c/20210204_115912.jpg Work - Lyric Using the existing Addaday motor assembly, we quickly put together a model that UX designers could put custom video files on. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/32180c20-987f-4b1d-933e-c6b78de0b938/Motor+On+Gif.gif Work - Lyric The prototype had a bluetooth module that allowed it to communicate with an app in order to trigger the motor and play animations on the display. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/10220624-dbec-4e5c-a4c6-245569cc0d72/LCDGif.gif Work - Lyric The prototype had a bluetooth module that allowed it to communicate with an app in order to trigger the motor and play animations on the display. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/ae4cf82d-5436-4d85-ad4a-bc09c315df3c/CAD+Video.gif Work - Lyric We worked closely with a factory to ensure the design vision of the device came to fruition. https://www.nikovladimirov.com/work/titan-arm monthly 0.5 2024-06-10 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/4748569b-f6de-41da-a8a3-f2607669464c/Friendly1.jpg Work - TitanArm TitanArm is not tethered to an external power source. It can run up six hours on a a single charge and it augments the user's bicep curl/tricep extension strength by an additional 40lbs. The suit also tracks the position and forces being exerted from both the user and the environment. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/2dbb1a59-910e-4302-b633-6be46fa74c89/Transmission2.jpg Work - TitanArm The motion of the suit is driven by a Maxon Brushed DC motor. The motor drives a spool which in turn transfers power into a flexible cable via a push-pull motion. The flexible cable ensures the user has a large range of motion in the shoulder joint while still being able to lift and hold a load. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/30f97e43-19be-4943-90da-2bf2c8ee2881/RatchetBraking4.jpg Work - TitanArm While electric motors have come a long way, they are not suited to hold a sustained static load for prolonged periods of time. In order to be able to hold a heavy load, we incorporated a ratchet mechanism that can be engaged or disengaged at the user's discretion. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/0d3111bf-246e-4749-8af7-df721f2081de/HallEffect.jpg Work - TitanArm The suit was created to assist people with upper body injuries. Hall effect sensors track the angles of the shoulder and elbow at four locations in order to determine improvement in range of motion. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/54061c95-c139-47de-ad68-b4a3b9c2432f/machinedparts.png Work - TitanArm All components apart from circuit boards, the motor, and the cables were manufactured at Penn. Over 300 hours of machining time went into the production of the suit, and we leveraged all the capabilities we had at our disposal. https://www.nikovladimirov.com/work/nibbles monthly 0.5 2023-10-25 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b575914a-03c9-4332-9b77-f1c3bc3f3300/Single+Motor+1.gif Work - Nibbles A single motor drives all of the limbs: the ears, tail, head, and arms using a series of cams and linkages. The motor is connected to an electronic wiper board (a very simple and cheap version of a potentiometer) and a microcontroller is able to determine which limb is moving. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/2ae2f838-2b4c-4b58-a7bc-fcf02b2d72b9/Touch+Points+2.gif Work - Nibbles The ears are compliant so users can pet the bunny without overloading the motor https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b94f6315-6895-4f7c-aa1c-7a2f76da44ce/Chomp+Mech+2.gif Work - Nibbles A paper cutting mechanism is used to cut the strips being fed into the robot. We made sure to recess this mechanism far back and made the opening small for safety. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/f2ee999d-5222-403a-ac31-b86f5f133ad7/Eat+n+Poop.gif Work - Nibbles The chopped-up paper bits travel down a chute and eventually the tail lifts up to "poop" them out. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/db52b422-45ec-462e-8b85-250cc4e572ce/Touch+Points.gif Work - Nibbles Nibbles has capacitive sensors in the head and belly to read user inputs. The eyes are also able to animate with a RGB led, which flicker to the sounds coming out of the model. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/335ac26f-a2b3-444b-9c02-fedc828acdb9/Screenshot+2024-06-09+at+9.27.35%E2%80%AFPM.png Work - Nibbles Nibbles released as "Zoomer Hungry Bunny" in February 2019 to positive reviews. https://www.nikovladimirov.com/work/rc-skater monthly 0.5 2024-06-10 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/4872ecfd-34b1-440f-8649-72fbd73fb5c1/SKM+Movement.gif Work - Skate Carvers The figure would move to mimic the user's hand positioning on the mini-skate deck controller. Lean forwards or backwards to drive, and lean left to right in order to turn. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/9b0a32cc-135e-4ff4-90e3-66b0536604a2/SCM+Tricks+2.gif Work - Skate Carvers The model was carefully balanced so the user could execute precise tricks. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/ccd0af03-65c4-4719-8b29-3e83b4d035ef/SKM+Tricks.gif Work - Skate Carvers By pressing the controller in a specific pattern, the skater model would execute a pre-recorded trick. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/0f438f27-fdb9-443c-b22f-ca2861595f6e/SKM+Chargins.gif Work - Skate Carvers The controller can be used to recharge the skater model when the installed lipo battery runs low. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/53838d00-43c3-425e-9b11-d2942730cc73/Figure+Exploded+View.png Work - Skate Carvers The figure utilized two tiny plastic gearbox motors. One drove the model forwards and backwards while the second leaned the deck for steering and moved the arms to keep the movement dynamic. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/68a3645e-d37b-49e9-a1c4-2c823508b6d5/Controller+Exploded.png Work - Skate Carvers The controller used an off-the-shelf joystick module, and had replaceable AAA batteries and charging circuitry for the skater model. We created these exploded views along with BOMs to help the toy company properly cost the toy for their factory teams. https://www.nikovladimirov.com/work/flip-slide monthly 0.5 2024-06-10 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b67bc545-b7a3-4c3c-863b-be8eb9a362f1/FS+Speed.gif Work - Flipslide We built a fully-functional model with electronics, satisfying sound effects, score tracking, and LEDs. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b381fd89-1fa3-4de5-8215-0bdfe0b98418/FS+Mode+Select.gif Work - Flipslide Since there are no buttons on the mode (except the power switch), we had to get creative with user input. Users rotate a block to change modes (or volume levels), and then slide a block to select the mode. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/e4918752-017f-4414-88a1-d3993816d626/FS+Early+Proto.gif Work - Flipslide Early prototypes tested the feasibility of a sprung rotating block with passive components and LEDs to indicate states. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/f61dc06c-eac4-498e-8a52-06baaf620e11/Flip+Slide+Pogo+Pins.gif Work - Flipslide Pogo pins are used to connect a block electrically to the center module. The module senses and reads the voltage across the resistor to determine its location and rotation. The center section has a V-shaped cross section to ensure rotating blocks can locate back on center. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/b866f928-af93-420d-ad96-2435101fd94e/IMG_20151102_135132.jpg Work - Flipslide Each rotating block contained two different resistor values. A central rod allowed for rotation and contained a spring in order to snap the blocks into the correct position. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/af178bd2-81c6-403d-b47d-01bd7726b88a/IMG_20151029_113747_0.jpg Work - Flipslide Sections of brass were machined for the electronic contacts to ensure conductivity and prolonged life due to decreased friction. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/1903d623-e94d-4b6a-8e8d-c7376498a574/IMG_20151102_135143.jpg Work - Flipslide The central channel was milled out of delrin in order to decrease friction. It had several detends at four positions in order to locate the central rod properly. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/a43bdf6d-62c5-46cd-bacd-789e253544c3/Screenshot+2024-06-06+at+7.03.53%E2%80%AFPM.png Work - Flipslide Flipslide released in April of 2018 and has been on sale ever since (an encouragingly long time in the toy world). It has gathered over 10,000 positive reviews, with users enjoying the tactile and satisfying gameplay. The toy features a demo-in-store mode with packaging that allows people to try before buying. https://www.nikovladimirov.com/work/hot-wheels-all-terrain-shark monthly 0.5 2023-10-25 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/3110893f-b11f-4cb9-bd5a-933b4b49c867/IMG_20170418_154926.jpg Work - Hot Wheels All Terrain Shark An existing 1:10 scale RC car was heavily modified to include toy-grade components. We swapped the brushless motor for a brushed 550 12T motor and the conventional steering was replaced with a rear-steer setup to give the shark a swim-like motion. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/379a321a-4dfc-4d5b-8925-2827aedfa66a/Shark+First+Test.gif Work - Hot Wheels All Terrain Shark As soon as the breadboard was assembled, we did quick tests to make sure our solutions for waterproofing and buoyancy held up. We sealed all the electronics in a waterproof compartment and ran the drivetrain through a shaft filled with grease to prevent water incursion. The steering servo was also waterproofed with plenty of grease and sealant. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/7c318887-fbfc-4cc5-a7a6-a2f6973098b1/Shark+FIrst+Pool+Test.gif Work - Hot Wheels All Terrain Shark We used pink foam to help the shark float in the water and paddle-boat style wheels to propel it in the water. We iterated through multiple designs, altering the diameter and depth of the paddles before arriving at something that performed to our liking. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/6b86fd85-da14-42cc-a65b-acb70776732a/CAD+Flyaround.gif Work - Hot Wheels All Terrain Shark We used the sculpting tools in Fusion 360 to realize the organic shape of the mechanized shark. We were able to rapidly iterate through many shapes to work around the mechanical components of the RC heart of the model and test motions before committing to long print and machining times. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/cda99cad-afc9-4af3-b1e1-7f08b2ce0118/IMG_20170531_131920.jpg Work - Hot Wheels All Terrain Shark The main shells of the shark were SLA printed, sanded, and painted to match the colors the Hot Wheels team was after. The engine blocks and belly of the shark were milled foam pieces that were sprayed with metallic paint. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/678cc06b-e2ee-4763-9ae0-ab09afd0e065/Screenshot+2024-06-09+at+5.19.40%E2%80%AFPM.png Work - Hot Wheels All Terrain Shark The Shark released in October of 2020 to positive reviews and stayed very close to the design intent we created years earlier. https://www.nikovladimirov.com/work/jurassic-alpha-training-blue monthly 0.5 2023-10-24 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/48b61cca-f05f-4f14-97ec-a21605637ea0/ControllerDemo.gif Work - Jurassic Alpha Training Blue The controller would read a user's hand motion, compare it to a stored sample, and then send a command to the robot if the samples matched. In this way, a user can "train" or command the velociraptor with hand gestures. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/1cfd59f3-6c4c-4e15-ae8f-706634b8419f/IMG_20170117_091032.jpg Work - Jurassic Alpha Training Blue A Nintendo Wii nunchuck controller was re-purposed to house a microcontroller, wireless module, and accelerometer. We also added extra buttons and haptic feedback for more functionality. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/eceb6c22-c5b9-47c9-8d6c-399838475b42/Blue+Head+Mech.gif Work - Jurassic Alpha Training Blue Animating the movement of the raptor was accomplished with a large amount of custom-made mechanisms. Above you can see a cable driven combined eye and blink example in the head. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/2d9f8bfa-4092-4532-a19e-b765c5502edc/71OFpExp8EL._AC_SL1500_.jpg Work - Jurassic Alpha Training Blue Two capacitive sensors were installed: one in the chin and one on the top of the head. These allowed the user to interact with Blue by petting her, and would trigger animations (positive or negative depending on how much you've "trained" her). https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/07cbbed9-73b6-4417-8cb8-e34b2fae990f/81JLjyGXxTL._AC_SL1500_.jpg Work - Jurassic Alpha Training Blue We worked with an officially licensed sculpt from the movie and converted the mesh to a CAD-friendly format in order to add linkages, motors, and electronics. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/57fb9f87-719c-4cee-8976-7fce3373b9c8/Screenshot+2024-06-06+at+5.57.57%E2%80%AFPM.png Work - Jurassic Alpha Training Blue Blue released as a high-cost collector's item with Mattel in October 2018. It has received very positive reviews from users. https://www.nikovladimirov.com/work/motiondesign monthly 0.5 2023-10-25 https://www.nikovladimirov.com/work/mini-ironman-helmet monthly 0.5 2023-10-25 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/251f65d8-6503-4399-951b-ff7912d4aadd/Press7.jpg Work - Mini Ironman Helmet A small pololu gearmotor and some bevel gears drive the opening and closing of the faceplate. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/063f7417-27ec-4bcd-a1f4-3008ccfe0a55/Press3.jpg Work - Mini Ironman Helmet A microcontroller was used to run the motor for a predetermined time. Eventually, I fitted limit-switches to the ends of travel to prevent damage to the mechanism and motor. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/52e3e310-28a0-4a80-97b9-4a8722d71100/Press6.jpg Work - Mini Ironman Helmet A small aluminum base plate and mount was machined. Two buttons trigger the automated opening and toggle the LEDs in the mask. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/070a0a35-1cfb-41c1-a756-287f0cd5c67f/Press1.jpg Work - Mini Ironman Helmet The entire model can be powered by a 9V battery or a barrel jack can be plugged in from a 9V source. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/c0b620c2-e316-475f-aefb-3cc3fbc6c350/Press4.jpg Work - Mini Ironman Helmet The model was printed on an Objet SLA in roughly 1:10 scale. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/9fc285a6-a1e2-4061-9005-869c49956767/DSC_3711.JPG Work - Mini Ironman Helmet Despite the great surface finish straight from the printer, a significant portion of the project was spent on sanding surfaces and filling gaps from printing defects before it was ready for paint. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/9ddbc5bd-c32a-48c2-913d-96b119a66c7f/Press5.jpg Work - Mini Ironman Helmet I dug deep into prop replica forums and found a behind-the-scenes book from the original movie in order to find the exact automotive paint used. https://www.nikovladimirov.com/work/marionette-sxm7e monthly 0.5 2025-06-05 https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/5beff264-2d52-49c2-b49a-72a018798c73/Hello+World.gif Work - Sketchbot Sketchbot has a servo-driven pen lifting mechanism. The pen is sprung so that it always contacts the paper, and the entire carriage moves on a small linear bearing in order to minimize pen deflection. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/61a530a7-6084-413a-8963-fe48c2f29cb4/Geo+Nodes.gif Work - Sketchbot I created a custom node group using Blender's Geometry nodes environment. It takes an image or text input, converts it to curve objects, and then iterates and draws along each curve. The setup also accounts for pen travel between curve objects. Just like a CNC jog motion, the pen lifts, moves, and then lowers between curves. Finally, each curve can be drawn with easing in order to limit any sudden movements and provide more smooth motion of the pen. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/a8fe661b-1452-4df9-a383-12c8be94ca41/Mechanical+Details.gif Work - Sketchbot Sketchbot uses two GIM-6010-8 brushless motors. These include dual encoders, an O-Drive controller, and an 8:1 planetary reducer. In order to get more resolution and enhance the robot's drawing capabilities, I use a custom 5:1 GT2 belt reduction. The final repeatability of the robot turned out to be under .25mm, which I was happy with given the plastic links. https://images.squarespace-cdn.com/content/v1/65316ab00668a02c43a8525d/a9b64506-2838-498f-86e5-95645652b791/Robot+Details+3.gif Work - Sketchbot All joints inside the arms contain at least two deep groove ball bearings. In order to eliminate any play in the bearings, they are pre-loaded with some custom caps.