Overview

What is the OSR2?

The OSR2 is a Multi-Axis Stroker Robot (MAxSR) designed to hold and move a standard fleshlight or similar toy with 2-4 degrees of freedom (adapters are available for soft, sleeveless toys like onaholes).

It is constructed from a combination of 3D printed plastic and commercial off-the-shelf components. It is designed to be home built, modifiable, and user-repairable.

Control is done via a generic open source USB serial protocol called T-Code. The OSR2 uses a Romeo BLE min arduino-based microcontroller, or an ESP32 microcontroller to receive these simple commands and calculate the appropriate control angles for each of the servos to achieve the desired position for the receiver.

The OSR2 is a hands-free machine that mounts to a standard VESA 100mm hole pattern using 4x M4 bolts. This means that an enormous range of mounting options, mostly in the form of display and monitor stands, are commercially available. There are also a couple of 3D-printable desk and chair clamp options available

What is it capable of?

The basic OSR2 can move up and down and roll left and right. A module can be added to the side of the device to add an extra axis. This configuration is called the OSR2+ and is also capable of pitch forward and backward.

In the OSR2, the standard fleshlight is mounted into a ring-shaped part called the receiver. This part can be upgraded with a twist mechanism or “T-wist”, which adds a fourth movement axis and allows the OSR2 to rotate the mounted toy around the stroke axis.

In its most mobile declination, the OSR2+ with T-wist, it is able to move up and down, orbit around a point in space and twist on its up-down axis, giving it 1 axis of movement and 3 axes of rotation.

The OSR2 can also control the dynamic suction inside the case of a standard fleshlight using an accessory called the “T-valve”. This uses a servo to automatically open and close the air gap at the top of the case.

What do I need to assemble it?

Check out the BOM.

What does it cost?

The hardware itself will run you down anywhere from $150 to $450, mostly depending on your choice of servo, controller board and where you order from.

Assuming you already have a 3D printer, a single roll of your filament of choice will suffice.
For everything 3D Printing related, check out the shelf for it.
Otherwise, there are multiple services online that allow you to get your designs printed and shipped to your doorstep.

If you start with no tool whatsoever, you will at least need a soldering iron, a crimping tool, some pliers, wire cutters and Allen wrenches, for the M3 and M4 screw. The whole of it might run you $50 to $100 extra.