The First RoAr (ECAMVille Version) #1
ROOAAAAR does not mean what you think it does, I am not all that narsaccist, it means Ro-H-Bot Arm. Ahahah, this was the first robot arm created by me.
Back in 2021, I got my second internship and I made this in 2 weeks for them. They wanted an ARM, a robot arm. There were so many trials, JuJu was with me then, vacations were going on. He slept in ToTo's room, ToTo was so angry afterwards ahahahaah good stuff.
Yeah there's no end effector on it. I just didnt have time for that. I have now tho < side eyes smiley > and I still DID NOT FIND MY Miley or Julie yet AAAAAAAAAAA.
This arm was primarily used in a holonomic robot car I designed for the company as well. The purpose was to grab objects from the table or floor and displace/hold them.
So did it work?
Well ofcourse it worked as intended. I have to print and assemble this again to upload a video, maybe in the future. For now lets see the different prototypes and concepts.
I had two concepts after which this design struck in my head, I don't know how, things happen in my head without influence of ANYTHING except wine.
Concept 1
Well, even I don't know what I created here, looks like something made for two servos and not steppers. I believe this concept enabled me to come up with the interconnected axis system.
The main thing about this one was the ability for the interconnected axis system to approach most objects on the table, grab it and pick it up. EZ PZ Lemon SQuiZ.
Concept 2
AHA, This concept was printed and experimented on. Was a great system except the gear reduction was not enough for it to be effective. The NEMA17 fell short for this because my driver couldn't hold it but at 30V I believe it would have been great however at 12V it didn't work.
The principle was that the two NEMA 17 motors were hooked with a spur gear set each and operated the arm. It was beautiful and even more wgen it worked completely fine without load on hold. In this concept the joints weren't designed properly becasue it was still a prototype so I went with a bolt and just one bearing.
Surprisingly the base held up to the heavy NEMA 17 motors and didn't bend much. I was am quite impressed because this was my first ever 3D model that was printed and tested.
The servo U and M bracket (red) took so long ahahaha, I customized it as well and it has now nut and bolt integration. Amazing stuff.
Concept 3
A stupid concept however the most important one ahahah. This concept drastically improved torque and also made sure the holding torque was passive meaning mechanical and not dependent on the motors. I made this concept in complete < panik > since only 4 days were remaining to D-Day.
This one involved worm gear sets hooked to the steppers, they were fast and strong enough to handle upto a kg of load. The 3D printed gear were quickly replaceable, you could always use brass ones or steel.
BIG PROBLEM'E': This concept was not usable because of the motors geetting IN THE WAY. So? Well just displace them 90 degrees and thats what I did in the final version.
Voila Final Assembly
Love it so much. I learned Blender Bones and Blender Mechanical Rigging just to make the animations on this one.
So well, this one has the worm gear drive, the nema 17 shaft needs double slots, one to make sure it rotates with the gear and the second to make sure the worm gear does not slip upwards and disengage from the system.
A lot of new stuff was created for it. The custom shafts ended up looking really great. SO MANY BOLTS, HELL YEAH. There were a lot of set screws used as well. The shafts were made in three parts to make them look unique. The gears were locked to the connecting rods by a single long set screw. Bearings everywhere!
So how do you attach it to a system? Two ways, the bolts beneath the motors (8 of them) can be used or just nano tape any base to the flat side to it.
There's only one little thing left to create, a gripper. I will do that whenever I get the motivation. For now just see this beauty.
Forgotten Memories
There's a lot of them but not for me. I remember everything.
Why Orange and Red? BECAUSE I MADE IT SO!
[ I am always so extremely bored no matter what I do, nothing really matters or is worth pursuing, its all way too easy. It's all fake. ]
- Made in Ville D'ECAM*, France by RolandThsive
Have a nice day,
- Rohit
* (RoRo, ToTo - JuJu**, Ludo)
** Just to piss off ToTo
Great, Really Nice Picture of My System Assembly
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