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I am interested in building one. It can be the first version or the HD.

I saw a kit is mentioned, but it seems is not available anymore, at least, not on https://www.hdrobotic.com/shop, where prices start from 13.000 (ouch) and there are no kits listed.

I am wondering, has anybody built/ assembled one using just the info on github/thingiverse? Does it work, are all the parts listed, is the Bom missing something?

I would like to avoid starting ordering / making parts without any feedback on the feasibility of making it. Thanks!

Can I build a Dexter HDI now?

The HDI has NOT been fully open sourced. However, some of the changes from HD to HDI have been, e.g. the diff. It's all on the public github repo, especially under the wiki. The hardest parts are 1. getting the electronics (we keep hoping someone will layout an open source PCB, we make all the schematics available), 2. Getting the wave drives (email Harmonic) 3. Finding the chips, during the pandemic shortage. Honestly, it's a challenging built, but it IS still possible. 

Great! Maybe, I can help with the PCBA part. Is it the optical encoder or the Xilinx FPGA that needs to be layout? Also, the mechanical parts are the same except the Differential Joint, right? I only see HDI mentioned on the Differential joint page in the Github wiki. 

I'm replying to myself here because it's not allowing me to reply to you.

All the PCBs need new layouts. But the optical encoder is trivial, so I wouldn't worry about that. The FPGA is currently on one board (a MicroZed) and the Motor Control Board (MCB) plugs into that. One of the problems is that because of the way the connectors are setup on the MicroZed, most of the board space on the MCB is taken up running traces. The real solution is to re-design the MicroZed / MCB stack into a single board... or into an FPGA / Analog board with a connector on the bottom that plugs only the necessary signals into a Motor / Power board. We don't need all the stuff on the MicroZed, and if you keep all the signals we do need connected the same, the .bit file for the FPGA should work without modification (and you can't modify it... or rather... you can, but it would be really difficult). That is still a heck of a complex board design, because the MicroZed is a really tricky layout to meet all the requirements of the FPGA. This is not an entry level project! LOL. But it should be in the scope of medium to advanced open source boards. 

There ARE a few other (minor) differences between the HD and the HDI but a good mechanical engineer would see them easily, and the robot is still useful without them. 

Thanks for the detailed information! I have experience with the Altera cyclone FPGAs to control high-speed ADC, DDR SDRAM, and PCIe interface. I may just have the required skills for this design, although I never used a Xilinx FPGA. There are several websites related to this project, I wonder where should I start first. Should I start by building a Dexter HD, then upgrade it to HDI? Is the OnShape version most current? I also clone the fusion360 version HDI, but I think it's mostly outer shells. 

The big question is what printer you have available. If you have access to carbon fiber, the HD makes the most sense. If you have PLA, then you should certainly print the Dexter 1; it's a tougher build (lots of little bits to strengthen the PLA) but it's also more rigid (carbon fiber is typically bound in nylon and so it deforms) and perfectly usable. If you want, you could try the HD in PETG or a resin if you can print with those.  Don't get hung up on the idea that later versions are "better" they all have good and bad points, as I've indicated. 

If you just want to print one of the version, use the links to the STL files from the Hardware Wiki page. If you want to make design changes, OnShape is the only option. 

I have built a Voron2.4 350*350 recently, but I did not try anything but PETG with it. The reason I care about the version HD or HDI is that I plan to use it to perform some precision tasks. I read about the HDI on the official website, and find it quite enough for my future applications. But I can't find detailed info about the performance difference between HD and HDI, so I think I should try to build an HDI. 

The Dexter 1 is just as precise as the HD or HDI. They have a bit more load capacity, e.g. 2 or 3 kg (with counterweights) vs the Dexter 1 at 1 or 2 kg. Dexter 1 is stiffer, which means it can hold a precise position better.

Also, keep in mind the difference between accuracy and precision. Dexter is precise. It is only accurate /after/ calibration. I mention this because a LOT of people are confused about the difference between accuracy and precision. 

Please show one video. Cut wood similar cnc but in 6D = XYZABC

Dexter doesn't have the stiffness required to cut wood. Polish, paint, burn, etc... would work. We've done laser etching. 3D printing has been on our todo list for a long long time, but we've just never had the time to do it. LOL. Should be possible. And... it should be possible to mount the extruder (or extruders) on a fixed external mount and then have Dex hold the build plate. That way, you can print up a face, then turn the print sideways and print off in another direction, avoiding supports.

robot arm has many advantages but

but for it to be suitable for anything there has to be pressure. Cutting in wood (the simplest) is what illustrates how useful this tool is. arm must be able to control material cut, pressure, resistance 

unless it's just a gadget for the movie and not a tool

I guess pick n place machines have to cut wood? 3D printers have to cut wood? We can apply 3KG of pressure, but without /stiffness/ that will not correctly cut wood. We can operate a drill press, serve beer, load strawberry flats, dispense soft serve ice cream, do medical testing, tend other robots like CNC machine, or pressure mold, or 3D printer, and on and on... but sadly, since we can't cut wood, we are useless. LOL. Build a CNC machine or router for cutting wood. And Dexter can load planks, operate the CNC software, and remove the finished parts for you. 

Just so you know, there's another robot arm called Dexter:

https://www.gamechangers.technology/oxford-technologies-drhcell-robotics/

Or here:

https://www.nuclearsolutions.veolia.com/en/our-expertise/technologies/dexter-our-propriety-remote-manipulator-system

Your's is much more accessible.  Excellent work!

what is the difference between the buyable one and this have you implemented any new ideas

The Dexter HD simplified the build process and improved the accuracy of the original by reducing the amount of parts and glue needed for assembly.

The Dexter HDI reduced the amount of glue used even further in favor of bolts and threaded inserts as well as decantilevering the pulleys with some new parts. The code disks were also changed so that Dexter can achieve absolute positioning as opposed to the relative positioning that we've been working with up until the HDI. This is done by closing off some of the slits slightly and having the encoders monitor where those points are. 

We don't currently have a timeline on when we will be open sourcing the HDI, but it will be when we move onto our next version of the design.

Most force/impedance robotic control systems measure torque to detect an obstacle collision. Does Dexter measure torque perhaps through the motor control circuit, or just use the joint position, or joint position rate of change to detect an obstacle? James, I noticed that you sell magnetic abolute position sensors on your site. The AS5047 gives you 16,384 counts per revolution at about 10-20khz. This is much lower than the one million CPR of your sensor, but was this not high enough resolution or fast enough to do force control?

First, my own site and encoders have nothing to do with Dexter or Haddington Dynamics. The AS5047 is 4000 CPR, not 16K. The sensor on the Dexter is very much NOT my design, it was developed by Kent, the principle designer at Haddington Dynamics. 

Dexter measures position only, but because it is so sensitive, it can detect forces like a cotton ball being dropped on the arm. 

Has anyone implemented this on anything other than the microzed fpga? It's 5 years old and there are cheaper alternatives now. 

I think we would love to hear about alternatives which support the same general capabilities: Same FPGA size, 32 bit ARM core, Ubuntu, lots of IO. We've been talking to Avnet about the platform. 

Will the .BIT file work on other xilinx boards or only the MicroZed?

I'm honestly not 100% sure. I'll have to ask our lead about that, but my understanding is that the .BIT file is designed for the chip used on the MicroZed, so it would work on any board that had that chip... and... that had the IO pins from the chip connected in the same way that the MicroZed connects them... so, technically "yes" but effectively "no". 

I came here after receiving an email on the Hackaday prizes, and started researching. This project is fantastic, I am most impressed with the Dexter Development Environment (DDE).

I won't be building this till I've simulated my intended use (using the DDE and maybe FreeCAD [1]) and any cycloidal drive prototype stl's are released. Three harmonic drives at >$100 each [2] in addition to everything else is out of my budget/risk appetite. My personality is such that I'll trade time and labor to minimize expenses and optimize things, you learn more that way anyway, it is what I enjoy!

----------------------------------------------
Slip Ring
----------------------------------------------
8mm slip ring referenced on page 4 of assembly manual. Looking at BaseLite.stl, which slip ring fits over, diameter is 84.3mm.

As the large copper rings appear to be manufactured in bulk by punching/stamping copper sheet [3] (requires machining of stamp), the most cost efficient choice would be to choose some "standard" size that is already mass produced. Using the Conflat Flange (CF) 80 gaskets, used in the high vacuum industry, would be a good fit. 80 refers to the ID in mm, but rounded down, see chart [4]. CF100, with ID of 102mm, appears to be more commonly used/available. No CF80 on Aliexpress, but many Alibaba sellers. CF80 distributor on Ebay sells 2 for $20 [5], but the cheapest single CF100 I could find is $5.50, so...

I can see the assembly manual right now starts but doesn't finish the slip ring connection. Skimming through the videos/webinars I couldn't find directions for the slip ring.

----------------------------------------------
Carbon Fiber Parts
----------------------------------------------
Costs via DragonPlate supplier (for comparison):

1.5mm 4.4mm 705mm CF strake: $4.53 (.057" x .177" x 48") [7]
2.5mm 5.6mm 2652mm CF strake: 2x $8.67 (.092" x .220" x 48") + $4.77 ( .092" x .220" x 24")
3.2mm 12.6mm 2616mm CF strake: 2x $12.74 (.125" x .500" x 48") + $7.01 (.125" x .500" x 24")
5mm 20mm 321mm CF strake: $8.81 (.200" x .250" x 24")
6mm 8mm 137mm CF rod/tube: $5.05 (.315"OD x .239"ID x 24") [8]
1" CF Square Tube: $60.75 [9] (base arm)
.75" CF Square Tube: $49.75 [10] (forearm)

Cart total is $183.49. And shipping at checkout is "Shipping charges are calculated when order ships"... Would save some $ by using 1" tube for the forearm, but would have to change model.

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DIY Carbon Fiber Parts
----------------------------------------------
Making the CF strakes/rods from carbon fiber sheet and epoxy is an option worth considering. It looks to be lower cost and higher labor, but I see an opportunities like customizability and making a skin [6] using scrap materials. There are plenty of forum guides on making CF parts by hand, and in the future, by robot arm? :)

Carbon fiber fabric:
.23mm 1yd@$13.5/yd 36" [11]
.38mm 1yd@$17/yd 50" [12]

Layer 4 .38mm CF fabrics for 1.5mm thickness strakes, and etcetera:
.38mm*4 = 1.52mm
.38mm*6 + .23mm = 2.51mm
.38mm*6 + .23mm*4 = 3.2mm
.38mm*12+ .23mm = 5.02mm

Cured sheets would then be cut with table saw [13], or possibly by Dexter as he is so precise!

Only 4.05ft^2 of 12.5ft^2 .38mm fabric used; much to spare!

1" square aluminum stock (~$23 for 72" at US stores) can be the form for the square CF tubes [14]. And a 6mm aluminum rod (~$1-2) as the form for the CF tubes.

DIY Cost: $115.45 = $13.5 (.23mm CF) + $17 (.38mm CF) + $45 (Quart 820 Epoxy) + $15 (US shipping estimate) + $23 (1" aluminum stock, cheaper with a trip to the scrapyard)

Savings over DragonPlate and only using ~1/3 of the Carbon Fiber ordered. Downsides are less quality parts and no fancy cure process (e.g. curing oven to raise temperature resistance and mechanical properties [15]).

----------------------------------------------
FPGA
----------------------------------------------
MicroZed: $178+sh [16]

Might find a cheaper reseller or alternative, e.g. Xilinx Z-turn lite $117 [17] or $103 [18]. Would be nice to know what VIVA is compatible with, esp. considering this MicroZed can handle a lot more than Dexter's stock requirements.

P.S. I like your twitter quote of Stephen Hawking, we should be scared of capitalism, not robots. "If machines produce everything we need, the outcome will depend on how things are distributed."

[1] http://hdrobotic.com/dexter-community/#!/general:freecad
[2] https://hackaday.com/2018/08/24/a-peek-at-the-mesmerizing-action-of-a-cycloidal-drive/#comment-4976153
[3] https://www.ebay.com/itm/253978363132
[4] https://i.ebayimg.com/images/g/LE4AAOSw9~Rb6nKP/s-l1600.jpg
[5] https://picclick.com/2pcs-CF80-Copper-Gasket-New-Vacuum-Pump-Flange-173608218978.html
[6] https://github.com/HaddingtonDynamics/Dexter/issues/4
[7] https://dragonplate.com/Carbon-Fiber-Strip
[8] https://dragonplate.com/DragonPlate-Carbon-Tube-315OD-x-239ID-x-24
[9] https://dragonplate.com/Carbon-Fiber-Roll-Wrapped-Twill-Square-Tube-1-ID-x-1-ID-x-24
[10] https://dragonplate.com/carbon-fiber-roll-wrapped-twill-square-tube-075-id-x-075-id-x-24-3
[11] https://www.sollercomposites.com/Carbon-3K-Fabrics.html
[12] https://www.sollercomposites.com/Carbon-6K-Fabrics.html
[13] https://www.practicalmachinist.com/vb/general/cutting-carbon-fiber-plate-216679/
[14] https://www.bentrideronline.com/messageboard/showthread.php?t=3120
[15] http://www.shadowaero.com/COMPONENTS.htm
[16] https://www.avnet.com/shop/us/products/avnet-engineering-services/aes-z7mb-7z010-som-g-rev-f-3074457345635221615/
[17] https://www.aliexpress.com/item/XILINX-Z-turn-lite-ZYNQ-7010-ARM-Cortex-A9-with-FPGA-dual-core-Development-Board-Control/32836668246.html
[18] https://www.xilinx.com/products/boards-and-kits/1-pcz4jb.html

Hey Andrew, 
Nice work tracking all that down. We do have a partial BOM (linked from the repo) but it is a bit out of date and could certainly use to be updated. Let me know if you want to help update it. We did raise a help wanted issue about it.
https://github.com/HaddingtonDynamics/Dexter/issues/34
I've made that google sheet "Anyone can comment" so if you want to leave notes on it, go for it, and if you want to edit, just ask me.

Andrew, true confessions here: We've all disabled the slip rings on our robots... they just are NOT reliable and they cause so many problems with reliability that we gave up on them. If someone out there that can make a reliable slip ring, please let us know. Anyway, the robots typically don't need to spin around for the bulk of the work they do is all in the same quadrant. 

As I understand it, Viva is a high level design tool so it's compatible with any FPGA that we can get an accurate descriptor... file... format... thingy... for. I'm not the expert on that so I'ma shut up now. 

What I AM an expert on is firmware, so I'm starting work on a code only (no FPGA) version with a lasercut encoder which should be as accurate (or better with a good laser) but much much slower. It's designed for human input, so you can make a non-powered "arm" with this, connect to a Dexter arm somewhere else in the world, and control it by moving this low cost local "arm" encoder around. Please consider being involved:
https://github.com/JamesNewton/HybridDiskEncoder

I'm hoping we can use the Cypress PSoC chips because they have a good 32 bit ARM core, enough memory to do ATAN2 (which is the necessary math), they have an onboard programmable analog front end, AND... they have a little FPGA which we may be able to use in the future to increase speed. 

Now that I look more, I think the MicroZed looks quite interesting. I'm sold after seeing the MicroZed chronicles, seeing OpenCV works with it, and utility for other projects.

I think it best for now I offer suggestions/ideas where I think I may have something to contribute. I hope I can get through other projects and start building Dexter, though there is much preliminary reading I must do. 3kg payload, very impressive!

Andrew, don't hesitate to ask if there is anything we can do to help you get started building a Dexter.