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Smarter Life
Blog Smarter Life Challenge - The Auto Barista Robot Arm in Motion! (Video)
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  • Author Author: PaulMakesThings
  • Date Created: 27 Dec 2013 2:24 AM Date Created
  • Views 778 views
  • Likes 1 like
  • Comments 4 comments
  • printing"
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Smarter Life Challenge - The Auto Barista Robot Arm in Motion! (Video)

PaulMakesThings
PaulMakesThings
27 Dec 2013

The build has come a long way since my last post. The 3D printed parts (with exception of two small ones that need changes) are all done. I've machine the tubes for the body and cut all the rods, and I've wired up and mounted all of the motors. Software is also coming along quickly, the coordinated move hardware settings are working and I'm working on adding a communication stack to stream moves.

image

 

 

The Robot Arm In Motion

 

This video shows the robot arm with 3 of the axes of movement running in coordination. The motors for the grip and the upper arm are working, but I need to modify the motor couplers. I like how the parallel bar linkage and bearing on the wrist are working. I took some close-up video of the lower arm tilt gear because it’s one of my favorite details. It’s a 28:1 Herringbone gear, only the sector the robot needs is there and I webbed it out to reduce print time while keeping walls where it needed strength. 

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Currently the software is pretty simple. It is built on the method Max provided in this thread. I haven't yet added a USB stack or intelligence which would generate the moves. There is just a function called "GetNextMove" which currently gives back two positions alternately for all the axes, to show off the coordinated moves, and will later give back the next move from the com port.

 

Voting is open

If you like my project please vote for me, it's open until Jan 17th. Mine is the 13th one down,

"The Auto Barista - Paul Sisneros"

http://www.element14.com/community/polls/1692?ICID=PSoc4-topbanner_vote

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  • vsluiter
    vsluiter over 11 years ago in reply to PaulMakesThings

    Yikes image

    That sounds very... stomach wrinkling....

    Good luck!!

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  • PaulMakesThings
    PaulMakesThings over 11 years ago in reply to vsluiter

    I'm currently working on running all 5 DOF at once, including the gripper. Hopefully I can put a video up soon. Though I'm on a work trip all next week, so if I can't finish it tonight it will be a while. Yesterday I briefly had it all set up and a missed keystroke sent the whole thing tumbling off the table, ripping out several wires and smashing the top plate of the gripper and the base plate. I've epoxied all the damaged parts back together last night, and put all of the wiring back in, but it will be a bit of a time crunch with packing for my trip.

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  • vsluiter
    vsluiter over 11 years ago

    Hey Paul,

    That looks really cool. Can you do a video using the gripper too?

    To get more views to this post, please also 'tag' this post with "auto_barista" so people may view it from this page http://www.element14.com/community/docs/DOC-64621/l/smarter-life-challenge-competitors

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  • DAB
    DAB over 11 years ago

    Hi Paul,

     

    Very impressive build.

    I like the smooth motion and levels of control you implemented.

     

    Well done,

    DAB

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