Base V1.1 final stl 3D print files changing some little things
Zip Archive - 7.97 MB - 08/08/2017 at 05:22
Controler V1.1 final stl 3D print files
Zip Archive - 342.00 kB - 08/03/2017 at 06:42
A first glimp at the smartrobot wrist movement, looking very stable!
The complete build has been finnished, only the gripper is missing.
Redrawing the gripper with a smaller digital servo of 9 grams and 12kg/cm.
Building the smartrobot arm
Started my 6DOF smartrobot project! beginning with the 'base unit'
As you already know or for the one they didn't know I started from scratch with this project.
I redrawed everything because I wasn't happy with the result of controlling and moving parts.
This robot will consist of 9 smart serial servo motors with feedback. You even can put the torck as low to move the robot by hand and record the movements. All feedback parameters as positioning,temperature,torck,load are available. Every motor will be commanded by serial communication, You can add up to 253 servos in one communication line.
I printed all base (axis 1) parts with my brand new leapfrog Bolt pro 3D printer and assembled it.
This is the first part and will be part of my graphical GUI controller software.
Sneak preview, some graphical improvements :-) Next week I've got all materials to build my smartrobot and attached it to the 'Robo GUI controler'. to be continued...
COUNTING DOWN TO THE FIRST WORKING RELEASE! A QUICK PREVIEW...
Some more progress, synchronized servos!
Another leap forward in designing the GUI controller, this time with sychronized servos! All is working with ethernet UDP communication to become the fastest communication. Next part will be moving automatically with the robot, swinging servos...
Some keymapping changes and build-in communication with hardware controller. First glimps :-)
Because I wanted a good accurate robot arm I decided to work with some smart servos, calculating the inertia to handle at least 500 gram I needed to work with more servos.
For the base joint I use a 24kg/cm smart servo, elbow, arm and hand I use 2 servos on each side from 12kg/cm and for the wrist and tool head rotation I use 1 servo from 12kg/cm. The gripper will work with a normal servo 10kg/cm.
I had to redesign the whole robot arm, a lot stronger and a bit thicker.
For the people how wanted the old drawings I will put them online if you want to play with it.
The power supply has to be upgraded to 7.5v 8.5amp, but it has almost the same dimmension so the hardware controller can be used without any changes.
A quick preview from the robot arm so far.
Tomorrow I will receive the smart servos from HerkuleX, also the leds on the servos will give a special dimension I think!
Because the servos work with a serial bus there will be just one or mayby two wires for all of them.
I'm strugling for a while with soft-hardware to do all the movements as close as with my graphical GUI controler. (kinematic movements)
The problem, most servos have a range of 180°, no feedback. If you want to have full 360° you have to get another servo 'continues rotation' here you cannot change the speed. And lots of other anoying things happen when I got further in designing the software.
I searched the web for a few houres and found some intelligent servos, lot of them where to expensive and had some bigger dimensions. But after a couple of houres later I found something that could be the solution! A good price, almost the same dimensions as a normal servo, very smart and 320° degrees of freedom or software changeable to continues rotation. choice between two types of motors 12Kg/cm or 24Kg/cm for this project.
The 12Kg/cm will be the cheapest one and has all the same features like the other one.
Even when you take two of them for the same work it is a lot cheaper so I decided to go for this product, I ordered a few to do some tests, if they will solve all my problems I will change the design with these boys!
I want a robot arm not to expensive, something where you almost can compete with a real robot arm! Something more than a piece of plastic that moves without any precision.
See ya when I got my parts and played with it :-)
It's super easy to connect up to 200 servo on one serial bus.
I made a preview of the robot arm with master slave servos to get more power, it has 8 servos DRS-0101(12kg/cm) and for the base 1 servo DRS0201 (24kg/cm)
The benefit of these motors, you can set the torck on and off so you can move the arm yourself and record the feedback position.
This could be the new 'SMARTrobo' 8-) when I'm satisfied with the results!
Another fine feature is the rgb light on the back of the servo that you can command through the serial bus.
A small movie shows the driving of 8 motors with 1 serial cable connected.