I made a robot to cut my hair with scissors

My hair is getting too long so I decided to build a robot to cut it for me. To support future projects like this check out my patreon: http://patreon.com/stuffmadehere

If you like this project you'll probably like my iPad case that lets you see blindfolded.

The possibilities for this kind machine are endless with the most interesting things being haircuts that are too hard for human hair cutters to achieve. Imagine a mathematically perfect fade from one side of your head to another. Or imagine if I added a trimmer to this and cutting perfect lithopane pattern into your hair. I consider this the first generation machine and hope to build another to explore some of the crazier haircut concepts. A colleague suggested adding a precision hair dying attachment and doing some crazy multi-color hair styles. I wouldn't say that's really "my jam" but I might try it in the name of science & engineering.

This isn't just limited to humans either. Imagine sticking a poodle in this or making a bigger one to create topiaries. Lots of fun ideas....

Parts used in this build:
Giant bearing: https://amzn.to/30aIFJE
Super long shop vac hose: https://amzn.to/3espyjm
Intel real sense depth camera: https://amzn.to/3h932hB
Teensy 3.6: https://amzn.to/3hLjANK
Leadscrew stepper: https://amzn.to/3eejpIq
Stepper drivers: https://amzn.to/2Yham3M
Wheels to make extrusion gantry: https://amzn.to/2Wc2S0L
High torque servos: https://amzn.to/32gFG56
Servo ball joints: https://amzn.to/2ZpZWPU
Aluminum servo horns: https://amzn.to/32h5fmU
Mini scissors: https://amzn.to/2Wc2VJZ
Super tough wigs: https://amzn.to/3ftPNHx
Foam head: https://amzn.to/2DGNByD

Books that I've read to learn many of the skills used in this project:
Real time collision detection: https://amzn.to/35iUr7i
Introduction to algorithims: https://amzn.to/2yUUSIN
Planning algorithims: https://amzn.to/2Smavj9
Statistics: https://amzn.to/2zIlywI
Computational geometry: https://amzn.to/3cZ7YmR

Other tools and things that I think are great:
Wera allen keys 1000x better than el cheapos: https://amzn.to/2KlCb36
Wera allen keys (english): https://amzn.to/2RQUxNG
Cordless angle grinder - this thing will change your life: https://amzn.to/3cxrDdy
Dropped off ladder 20x and still going strong: https://amzn.to/2wO855g
Wera allen keys 1000x better than el cheapos: https://amzn.to/2KlCb36
Wera allen keys (english): https://amzn.to/2RQUxNG
Vise brake (highly recommend): https://amzn.to/3akCkhZ
20 ton press brake kit: https://amzn.to/2xw4fhL
Hypertherm powermax 45xp with machine torch: https://amzn.to/2zfoyAv
Hypertherm fine cut consumables (great for sheet metal) https://amzn.to/34SjMom
The best marker ever. Always in my pocket: https://amzn.to/3ewHGtL