![]() 6-32 Truss Head Phillip Machine Screws - 1/2 in, 1/4 in, 5/16 in, 3/16 in (about 20 each),.Hitec HS-5645MG digital servo, programmed to 180 Deg.(2) Flat Dual Channel Bracket (585422).(1) 1" Bore Clamping Hub A (545352) – Better off using 1" Bore Clamping Hub B (545354).(1) SPG785A-BM Bottom Mount, HS-785HB (3.8:1 ratio) - Unassembled.(2) SPG785A1-5 Servo Gearbox(7:1 gear ratio for the shoulder, and 3.8:1 for the elbow).Quark for his excellent G4P library for Processing 3.0 and for resolving several challenges at the Processing Forum as well as GoToLoop.īboner's Robotic Arm with Arduino driver controlled by Leap Motion at letmakerobots for the the base code and ideas for the Processing GUI and Arduino sketch. Travis Wolf for his blog on Inverse Kinematics, Operational space control of 6DOF robot arm with spiking cameras part 2: Deriving the Jacobian and for taking time to answer several questions. I want to thank the following tinkers and builders for their efforts that aided me developing the software for this project: This is my first attempt at an Instructable so be kind. Unfortunately, I did not think of doing an Instructable until after the arm was completed so the only thing missing will be the length of the screws used in the build. In this Instructable I want to show you what I came up with using pretty much all off the shelf parts from ServoCity (great source of supply) as well as sharing the information I used for this build to help you in your own projects. ![]() Thankfully, there is a lot of information out there on the web to help with all these topics. Besides, I always wind up tinkering with them anyway to make them work the way I what them to work.Īmong those things that I learned and was needed for the project was to overcome the mechanical challenges of designing and building the arm, forward and inverse kinematics to control the positioning of the arm, and developing the software to control the arm. Kits are nice, but its all done for you and you never quite learn all the in's and out's of the project. One of the projects was building a robot arm from the ground up. In those days there were no microprocessors and you needed your own machine shop to make the mechanical parts. I recently retired and one of things I promised myself was that when I did retire I was going to complete all those projects I had running around inside my head since I was a teenager.
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