01/08/2015 at 22:31 •
01/09/2015 at 08:12 •
This is a first preview of the Gripper. It is a three finger design. I "copied" the mechanic for a comercial one. Not like measuring every part. I never have seen it in real. I just wachted the youtube video like 50 times.
Here is the idea, I was inspired from:
Does anyone know is it save to publish the stl files or can thy sue me?
01/15/2015 at 18:23 •
This is part 5 of my robot arm project. This time I updated the shoulder joint with a dc motor driven one. It is finally powerful enough to drive the arm.
I uploaded the new Shoulder joint:
01/21/2015 at 08:50 •
I got the motors for the shoulder and the elbow joint running. This thing is quite fast, and strong. I'm now working on the redesing of the other parts and the gripper. I hope I can grasp and move something very soon.
You can download the new shoulder here:
But I recommend to wait a little bit I had some troubles with the cable guides.
The very crude Arduino sketch can be found on github:
02/01/2015 at 14:49 •
Here are the stl files of my gripper:
I also will post a video update soon. I made a lot of progress. :)
02/05/2015 at 08:57 •
This an update video about the ongoing Development. I installed the the encoders and printed the hole new robot arm.
You can download the encoder PCB and encoder mounts at:
02/20/2015 at 09:28 •
I got the kinematics running but a silly error of let the arm break free. So I reprinted some parts. I used the IK sovler from ROS/moveit: http://moveit.ros.org/wiki/Kinematics/IKFast
I'm very kind of all the people who offered help with this project, I still don't know how to organize that everyone can participate in a good way.
02/24/2015 at 13:32 •
I fixed the broken parts and started building a housing for the electronic:
08/24/2015 at 14:21 •
I'm still working on this project ;) but not I've not so much time.
Im currently working on a new version again with steppers (Nema24) and belt drives.
I also tried to make my own harmoic drive:
It didn't worked as I hoped and I spend a lot of time working on it until now but I will close this aproach.
09/11/2015 at 20:46 •
I'm working on a new version based on the experience I made with the previous versions.
The plan is to use stepper motors and timing belt gears.
The plan is to use a Nema23 stepper for the rotary base,
Joint one and two will be Nema24 ( this: http://www.omc-stepperonline.com/dual-shaft-cnc-stepper-motor-nema-24-100mm-4nm566-ozin-24hs393008d-p-388.html )
Joint 3 and 4 Regular Nema17 stepper and for the 5 joint a HerkuleX DRS-0101 .
But nothing is final now.
Power supply will be 24V-36V I guess.