The REPY-2.0 is an open source mechanical module for researching Modular Robotics. It is designed to be printed on a Low-cost 3D printer, like a RepRap.

The main points taken into account when designed were:

• Symmetry. This way, the robot can move whatever the orientation of the module is.
• Low-cost. Modular robotics is usually a expensive area of research due to the fact that many small independent robots (modules) have to be built in order to build the main robot. Having a 3D printable design enables us to lower the cost of each module.
• Customization. With the same code it can be able to generate different modules according to the electronics and motors chosen. If our motor or board is not yet implemented we can do it easily by using the existent modules as examples, and with our new module the program will be able to generate a custom REPY-2.0 module.

You can find more information about REPY-2.0 on:

• d-squared:wiki - REPY-2.0

And the source code and updated stl files on:

• REPY-2.0 - github.com

This work is based on REPY module, by Juan Gonzalez-Gomez (Obijuan):

• Juan Gonzalez-Gomez (Obijuan) on Thingiverse
• Juan Gonzalez-Gomez (Obijuan) on Github

More information about Juan Gonzalez-Gomez's work on

• Thingiverse - REPY v1.1
• iearobotics - REPY v1.1 (Spanish)

Choose the file accordingly to the servo and horn to be used.

Not all of them have been printed and tested. At this moment only the following ones are validated:

• REPY-2.0 for Fake Futaba 3003s servo: lower part and rounded, 4-arms and 6-arms horns.
• REPY-2.0 for Tower Pro sg90 servo: lower part and 2-arms horn.

If you print one that is not in the list of validated ones, please let me know if it works or not, to fix the file or add it to the list.

Detailed assembly instructions on: d-Squared:robotics wiki