Dexter

We've created a Discord server as a way to quickly interact with the team and the Dexter community. You can talk to other Dexter owners about your current projects and get help troubleshooting any issues you may have. Join here: https://discord.gg/YkfQRJa

The Dexter HD build manual is now public. Instead of a book like last time, we went with a video series. Parts 1 and 3 aren't necessary for those who buy kits as those have been completed already. They're more for the people who are building their own Dexter HD from scratch. 

The videos can be found in this playlist on YouTube: https://www.youtube.com/playlist?list=PLEJQ7hsad17fC2tqTDGNFI_LPk1kX2aE6

The BOM for Dexter HD is also available for those who wish to source their own components. Keep in mind that it is still a work in progress from our older system for organization of parts, so some quantities of hardware may be incorrect. It can be found here: https://docs.google.com/spreadsheets/d/1tPxJF4zsaoBsXhz2b6sy5hTPxMfhjwwAfAAC_93CtzM/edit?usp=sharing

We can't wait to see what you make!

We have begun to release the STLs to Dexter HD. A page on Thingiverse has been created where you can download the parts. There are likely at least a few parts missing, but we will be updating everything as we move forward. https://www.thingiverse.com/thing:3206154

We are also currently creating documentation on how to build Dexter HD. It will be in video form on our YouTube page for all to view. We estimate we will be done with the series within the next two weeks and we are going to release all of them at once. 

If you follow us on Twitter, you may have seen that we have updated our print farm. We have 4 Markforged printers set up, 3 of them are Onyx Series while our first one was a Mark Two. We've been using their Onyx filament along with embedded carbon fiber in the Mark Two. Onyx is a filament created by Markforged that consists of chopped carbon fiber. This allows us to print stronger parts that have a higher melting temperature than PLA. PLA is a good material, but we can't leave a Dexter made of one in a car during the summer here in Las Vegas. We have before and it needed major repairs due to deformation.

Using our new tool interface design, we have printed a reconfigurable gripper end effector. On the 7th axis, there is a servo for rotary power takeoff for a movable finger which works with a fixed finger. The end effector is removable so different tools can be used. We have already made end effectors for use with pruning scissors, tweezers, and a manual vacuum pump. If you want to build your own, the STLs are available on Thingiverse: https://www.thingiverse.com/thing:3166448

There is a branch on our GitHub repository called TDInt. It is the development branch for testing new things out in Dexter's firmware. One of the recent updates adds functionality for a new file type we call .make_ins. The new type allows for a list of instructions to be run from a single file. Dexter's "boot up dance" is now part of the autoexec.make_ins file instead of in DexRun.c. This allows anyone who wants to change what their Dexter does on boot up to do so without recompiling the DexRun software. This also makes it possible for to Dexter run tasks without the need of an external computer. Check it out here to learn more https://github.com/HaddingtonDynamics/Dexter/tree/TDint

While we were implementing the 6th and 7th axis onto Dexter, we realized that our FPGA servo control system is so fast, it should be able to operate over 200 servo motors at reasonable update speeds. We're not sure there is any application that could use that many, but we do know that it gives us a great amount of potential in regard to Dexter's end effectors. The Dynamixel servos can be daisy chained together using the included cable. We had already been using this method to connect the 6th and 7th axis, but if your end effector application needs an 8th, 9th, or couple hundred more, that can be done.

We have developed a new tool interface for use with Dexter. It provides more interactivity with a pair of Dynamixel XL-320 servos as a 6th and 7th axis. The 6th axis acts as a wrist and the 7th is available to power a gripper or other end effector/tool. With their built in torque sensing, they can be back-driven like the rest of Dexter's axes. We are also working on adding a set of pogo pins to bring out signals and a tiny screen to display information and take selections from a user. https://github.com/HaddingtonDynamics/Dexter/wiki/End-Effector-Servos

Dexter is a stunningly complex robot. Understanding how it all works just from the source files is nearly impossible. Our inhouse Technical Evangelist, James Newton, has been working hard to develop a centralized place for Dexter documentation. It has information on all things Dexter, from end effectors to gateware to DDE. If you want to understand how Dexter really works, please read the "manual" at: https://github.com/HaddingtonDynamics/Dexter/wiki And if it still doesn't make sense, raise an issue or ask us here. We could use help with the docs.

2018 continues to be good for Haddington Dynamics and we picked up seed investors.

We will be exhibiting the remote control scaling system in Munich at the automatica show.  This along with the latest version of Dexter we call Dexter HD.

Very busy times.