Open Source RoboticsRobots, software & learning

RicMonk

Robot / hardware build

Three-link brachiation research robot with a tail, passive grippers and two QDD actuators; source includes inherited AcroMonk material that needs configuration reconciliation. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

Build & first use →Official websiteUpstream build guideBill of materials

For
Researchers experienced with dynamic robot control, Pi/CAN interfaces and fabricated mechanisms [1]
Cost
No current cost yet. Upstream bill of materials [4]
Source rights
Named licenses are documented by part. Review licenses
Unknowns
host computer, tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware

Requirements · Research details and dates

On this page

Overview

RicMonk is a three-link brachiation research robot with a tail, passive grippers and two QDD actuators. Its README credits AcroMonk's arm/gripper design while describing a distinct tail and configuration. Treat RicMonk as its own documented mechanism, but do not assume every inherited AcroMonk label or table was updated consistently. [1] [7]

Is this for you?

Known limitations
  • BOM retains AcroMonk labels and mixes EUR header with USD servo/pi3hat rows; displayed total is not a reconciled current quote.
  • Battery table voltage/capacity, watt-hours and C-rate/current numbers are internally inconsistent; no pack selection is endorsed.
  • Original assembly contains vendor bodies; CAD fit, part matching and third-party rights remain separate from rootBSD3 notice.
  • Historical source instructions include sudo pip and changing motor bus/ID examples; do not treat them as a verified current installation.

Editorial source-scope assessment; no execution, fit or compatibility test.

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] · Editorial assessment

What you need

Dependencies
  • RaspberryPi4 with pi3hat and two qdd100 beta3 actuators in described configuration
  • Historical moteus/pi3hat/PySide2 installation and motor-ID/bus guidance
  • Selected simulation requirements file contains pandas~=2.0.3 and drake; complete tested environment not established

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

Hardware & parts

Upstream bill of materials [4]

Hardware configuration

Three-link brachiation research robot with a tail, passive grippers and two QDD actuators; source includes inherited AcroMonk material that needs configuration reconciliation.

Editorial source-scope assessment; no execution, fit or compatibility test.

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] · Editorial assessment

Actuators
  • Two qdd100 beta3 servos in the described BOM

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

Assembly & first use

Open the upstream getting-started guide [1]

  • Inspect the RicMonk configuration and source discrepancies before selecting batteries, parts or powered brachiation experiments.
  • Follow the selected source installation/configuration route only after reconciling the stated version, hardware and dependency gaps.

Editorial source-scope assessment; no execution, fit or compatibility test.

[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] · Editorial assessment

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. Original assembly STEP bytes and file structure were inspected; no hosted preview or CAD-kernel fit validation has been performed. Match the selected configuration and third-party components before reusing geometry.

Model sources

Original assembly STEP bytes and file structure were inspected; no hosted preview or CAD-kernel fit validation has been performed. Match the selected configuration and third-party components before reusing geometry.

Project notes

Geometry is available; the selected build still needs matching

The original RicMonkAssembly.STEP, about 28.6 MB, was independently matched to its byte hash and Git identity. It contains actual solid and assembly declarations. This is exchange-assembly inspection, not native feature-history, fit, manufacturing or third-party redistribution clearance. [9]

The described setup uses two qdd100 beta3 servos, a Raspberry Pi 4 and pi3hat. The BOM still calls the testbench AcroMonk and labels a price column as German euros while two rows are explicitly in dollars. Its displayed total also excludes shipping and printing. That is not a reconciled current euro quote for a complete RicMonk, so no complete price is reported here. [4]

The battery table is another stop point for source reconciliation: it combines 6S, 22.2 V and 3000 mAh with 26.64 Wh, 30C (36 A) and 60C (72 A), values that do not agree arithmetically. Do not select a battery or substitute corrected ratings solely from that calculation. Confirm the exact pack, controller and configuration instead. No pack or electrical circuit was validated. [7]

The upstream README calls for a ladder-bar cage, accessible emergency stop and limits on motion, power, force and speed before powered experiments. These containment and operating provisions were not implemented or validated here. [1]

Keep historical motor setup separate from simulation

At reviewed revision ca7aff5239cad06c2f88ed7d93096b8a014f37c6, hardware instructions describe moteus/pi3hat tooling, bus/ID selection and zero-offset/stop commands. They include historical sudo-pip and PySide2 guidance, with examples that use different motor IDs. Those need platform- and configuration-aware reconciliation; they are not a reproduced current installation recipe. [3] [6]

The selected simulation requirements file contains pandas~=2.0.3 and drake. A short requirements file and the source's trajectory/control references do not establish a complete tested simulator environment or a successful brachiation. Begin by inspecting that software and the matched physical parameter/configuration files. [5] [8]

The root BSD-3-Clause notice covers project contributions, with separate terms for external software and purchased/vendor components. No upstream build, dependency installation, CAD-kernel/fit check, fabrication, battery commissioning, motor zeroing or powered brachiation was performed. [1] [2]

What we checked

Source research only. Selected text and original artifact byte/container identities inspected; no upstream compilation, dependency installation, native CAD application/fit/strength validation, simulation, manufacturing, wiring/calibration, powered commissioning, control performance or assay performed. Original CAD remains private; source links are not permission to redistribute vendor/third-party material.

Not yet established

  • Requirements: operating system, host computer, tools

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Nov 1, 2026
Sources last checked
Nov 1, 2026
Next review
Dec 1, 2026
Reviewed revision
ca7aff5239cad06c2f88ed7d93096b8a014f37c6; original CAD snapshot identities retained separately

Source files and licenses

Distinct inspectable physical research design reference with actual source and a bounded next step. Original file inspection is not fabrication, physical operation or complete support qualification.

LayerAvailability / license
mechanical designavailable · BSD-3-Clause
Original STEP exchange payload byte/git identity and basic structure checked; no native parametric feature-history, topology, fit or manufacturing validation. Root project notice does not clear third-party/vendor bodies. [9] [2]
electronicsnot found · License not fully assessed
No complete source/rights review of bought-in motor/driver/Pi interface layers established within this bounded repository/hardware-document review; not a claim of absence elsewhere. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
firmwarenot found · License not fully assessed
No complete source/rights review of bought-in motor/driver/Pi interface layers established within this bounded repository/hardware-document review; not a claim of absence elsewhere. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
softwareavailable · BSD-3-Clause
Scoped repository declaration; purchased components, external software/labware/tool assets and vendor bodies have separate terms. No commercial/manufacturing or experimental-performance clearance implied. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
documentationavailable · BSD-3-Clause
Scoped repository declaration; purchased components, external software/labware/tool assets and vendor bodies have separate terms. No commercial/manufacturing or experimental-performance clearance implied. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

No model weights/dataset or separate hardware manufacturing claim selected for the initial source-inspection workflow.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history