RoboSavvy Forum

Alternative Gripper for the RoboNova-1

2006-08-29T22:24:14+01:00

Hi,

Well, Like I said, I designed a similar hand with three fingers using micro servos and even the larger HSR-8498HB RoboNova-1 servos ... infact it's designed for GWS micro servos and another is designed for HiTecRCD HSR-65HB micro servos (much better quality) ...

The hand I designed is for up to 6V DC ...

has a 60mm outer diameter ... (see the round 3-holed plates in my avatar ...)

each finger can rotate 180° at its base ...

each finger has two kuckles to curl the fingers like a human finger ...

each finger is about the same size as a large human finger ...

the base plate is designed to connecto to a HSR-8498HB servo horn for pronating and supinatiing the wrist ... but will also connecto to a flat bracket that screws onto servos 11 and 8 of the RoboNova-1 arms too ...

After building the prototypes I decided the HSR-65HB micro servos made the best fingers ... but still the finger tips if added to the top of the last knuckle would be draggin on the ground like an ape ...

Not that an ape has a bad look ... but at 60mm diameter and I think it was 160mm long these hands are a little large for the average RoboNova-1.

They still might be the best choice though for the smallest fully articulated fingers ... and the hand designed around the HSR-8498HB servo would be really good, 'cept that it's so much larger ... 90mm diameter and maybe 200mm + in length as well as 40mm wide!

But when I saw the green SHD hand displayed for robotics in Servo magazine I immediately started to hunt it down and get more info ... I'm still waiting on the size answers ... but at 24V and up to 4.8Nm those ought to have big wires for a lot of current and too expensive for most hobby robotics ...

My latest one articulating finger design I think is the best for the RoboNova-1 so far ... it allows the RoboNova-1 to grab an object about 80mm/3" in diameter ... so the RoboNova-1 can grab a doorknob to open a door ... or just pick up really big things ... still, it will also be able to pick up a 2mmx4m screw off the floor ... and unpublished, I've designed a special set of fingers that allow plugging other tools onto the hand for other jobs making is even more universal for future tasks ...

But, first we gotta get more info about the SHD hand ...

Statistics: Posted by CaptKill4Fun — Tue Aug 29, 2006 10:24 pm

Re: Schunk 3-Finger Gripper as seen in Sept. Servo magazine

2006-08-29T19:31:53+01:00

CaptKill4Fun wrote:
Hi,

Well, it's nice to see somebody making an even better 3-Articulated Finger Gripper than what I designed ... it's the new Schunk SDH as seen in the current Sept. 2006 Servo magazine ...

They don't have any info online that I could find yesterday, but I did manage to snag a copy of the pamphlet (in .PDF format file) handed out at the 2006 Automatica in Muhich, German ...

Hopefully, I'll have more information on the product in the next several hours ... seems a large local company is a big buyer here in Tucson ...

If the dimensions of this hand are small enough (I doubt it) then it will probably render the design I was working on useless ... but that's a good thing ... it is in production whereas I can only see my work on the computer and in Coco Puff box prototypes ...

Wow They do look nice - reminds me of a prototype they had on Tomorrows World in the late 70's (that was a BBC science/technology TV program). Like you, Capt, I doubt they'll be small enough for our use but it does beg the question:

What about 3 smaller fingers all activated by a single servo, perhaps using cable (like RC planes do for rudder/aerilons) as the control from servo to finger.........

Well just an idea

Pev

Statistics: Posted by Pev — Tue Aug 29, 2006 7:31 pm

Alternative Gripper for the RoboNova-1

2006-08-29T19:22:45+01:00

Hi Capt' yeh they look good .I have been working on some basic pressure sensors for picking up and testing squeezing my fingers but there touch sensor looks fab.We shall have to keep an eye on those....

Statistics: Posted by rep001 — Tue Aug 29, 2006 7:22 pm

Schunk 3-Finger Gripper as seen in Sept. Servo magazine ...

2006-08-29T18:30:45+01:00

Hi,

Well, it's nice to see somebody making an even better 3-Articulated Finger Gripper than what I designed ... it's the new Schunk SDH as seen in the current Sept. 2006 Servo magazine ...

They don't have any info online that I could find yesterday, but I did manage to snag a copy of the pamphlet (in .PDF format file) handed out at the 2006 Automatica in Muhich, German ...

Hopefully, I'll have more information on the product in the next several hours ... seems a large local company is a big buyer here in Tucson ...

If the dimensions of this hand are small enough (I doubt it) then it will probably render the design I was working on useless ... but that's a good thing ... it is in production whereas I can only see my work on the computer and in Coco Puff box prototypes ...

Statistics: Posted by CaptKill4Fun — Tue Aug 29, 2006 6:30 pm

Alternative Gripper for the RoboNova-1

2006-08-20T13:18:15+01:00

Anyway back to the gripper subject which im sure this is all entitled.Has anyone,with a Robo that is fitted there grippers and set up any further routines I am still to fit mine as i have been trying to get RN to climb the stairs using his standard arms first.If there are people out there that have fitted grippers has anyone fitted temp sensors or pressure sensors ??
be nice to see some pics if you have.....

Statistics: Posted by rep001 — Sun Aug 20, 2006 1:18 pm

Hi

2006-08-20T05:40:52+01:00

I totally agree with you... "Please consider this is your friendly forum. It’s just that this forum do not wish to put pressure to anyone about what someone ought to do."

This is a FRIENDLY forum. The FORUM do not wish to put PRESSURE to anyone. And most especailly this forum are not used for FRAUDs, THREATS and HARRASMENTS.

The Forum is always welcome for all people who have common interest and that is "TO LOVE ROBOTS", especially RN-1 (at least for me!!).

This is the main reason why Im still here in this forum. After that experience.... How I wish I still have my RN-1 or money to buy a new one...

GOOD THING there are other MEMBERS here who SUPPORTED me and BELIEVED in me... One thing I really hated though are those people who take chances on other people's weaknesses....SAD to know that there are people whose credibility is only worth $xxx.00 USD...Only that much!! How pathetic GOD BLESS!!!

Statistics: Posted by Chrisbie — Sun Aug 20, 2006 5:40 am

Alternative Gripper for the RoboNova-1

2006-08-19T17:36:06+01:00

Eh Captain,

How are you? I hope you are fine

Please consider this is your friendly forum. It’s just that this forum do not wish to put pressure to anyone about what someone ought to do.

This is a hobby forum and as such, it will be very nice and totally relaxing each time we access the forum and found new ideas shared (with no pressure) by someone wherever he is on the planet.

There was a time a few months ago when I was so tired coming from work, but then I found some time in the evening to look into the forum , got so excited about the development and hence, felt refreshed, really.

Another point was during the development of Matt’s grippers where everyone was eager to have them. Everyone understood Matt’s busy schedule and it’s needless to pressure him. He was very apologetic for the delay during those times eventhough there was really nothing to apologize about.

The same way, people have expected not to be obliged...to the point of putting pressure on the forum to submit to your demands.

If you will put yourself in someone else’s shoe and read your own post (did you just delete them here?), you will know what people are trying to say.

The technical merit of your proposal is good. That is, to find a way to evolve and better RN-1.

But not so many could advice you what to do next, because quite frankly, either everyone is busy at the moment or the idea does not suit someone else’s preference for their RN-1.

As simple as that.

It does not mean, people dislike you and so this is a ‘hate’ forum.

Well, regardless of what you and I think of it, one thing is inevitable, hobbyist on this very forum will advance the ‘robolution’ of the likes of RN-1 (and other humanoids) sooner or later. And we stand to benefit for their ideas (and your ideas), good or bad.

Cheers

Statistics: Posted by Lomruz — Sat Aug 19, 2006 5:36 pm

hahaha

2006-08-19T16:13:38+01:00

Ah Ok....
An unreasonable emotional out burst... h-i-s-s-y -f-i-t
"often used to describe female anger at something trivial. "

Statistics: Posted by Chrisbie — Sat Aug 19, 2006 4:13 pm

Alternative Gripper for the RoboNova-1

2006-08-19T12:59:01+01:00

The widely accepted term for what he did is 'hissy fit'

Statistics: Posted by beermat — Sat Aug 19, 2006 12:59 pm

Alternative Gripper for the RoboNova-1

2006-08-19T11:36:02+01:00

CaptKill4Fun wrote:
...

Um, what's the deal with blanking out all your previous posts?

Statistics: Posted by Dimitris — Sat Aug 19, 2006 11:36 am

Alternative Gripper for the RoboNova-1

2006-08-05T17:48:30+01:00

I wish I had Matts grabbers....still waiting since July 15th......he's probably too busy signing hundreds of copies of ROBOT magazine or posing nude for Playdroid or something......

It's true I've been busy... not really signing magazines though, and not too sure if I have the looks (or confidence) to pose nude. I'm a dork remember. Your grips should arrive soon. Sorry for the mix-up.

Ask Matt ... did he get rich? If he broke even he'd be lucky! But his venture into the gripper was maybe because he has the extra money to do something like that ... throw $1,000 + at a project and hope it floats!

Quite honestly, I don't have a lot of extra money to throw around. Never really did. I work 46 hrs a week at a job that doesn't pay all that well. I do have a very supportive wife who helps give rational advice and keeps me in line. We've been pretty fortunate to have things turn out the way they did. Ultimately, I rolled the dice and took a big chance.
It takes a LOT of effort... not only money, to get an idea out of your head and into a nicely packaged, functional product out the door, and it's not over at that point either. There's the issue of support after the sale as well. Several shipments were lost in transit and had a couple mix-ups too. I'm respectful towards my customers and in turn, they've been graciously patient with me. In turn, I've learned a lot and made many new friends along the way. I'm thankful for that.

I wish you the best of luck w/ your endeavor Capt.

Statistics: Posted by bauermech — Sat Aug 05, 2006 5:48 pm

"Only Fools 'n Horses" ...

2006-08-06T07:09:13+01:00

...

Statistics: Posted by CaptKill4Fun — Sat Aug 05, 2006 3:46 pm

Re: Build it they will come?

2006-08-05T15:13:19+01:00

Whoa, steady on tiger! All I was doing was replying to this comment from you:

CaptKill4Fun wrote:
Now all I need is some orders to make this a real product ...

I didn't talk about getting rich or any of the other stuff you ran off with! The Robonova doesn't have enough of a customer base for you to make something that can do that for you. I was merely talking about what I think you need to do to get some orders! But, it sounds like it's going to cost you way above what you can afford to make them prior to selling them, so it seems like you're going to need 'pre-orders'; people paying for a product that doesn't exist yet, which is risky for a customer who does not know you and who has no guarantees of a refund if you don't get enough pre-orders to meet the cost.

A cardboard set doesn't quite 'prove it', either. The RN puts a lot of stresses onto its brackets. How do I know that the design of your grippers is sound? If I used your grippers to support the whole weight of my RN on a rope, for instance, how do I know your design doesn't put too much shear stresses onto the servo, or deform under the load of supporting the RN on a rope, doing the handspring move, etc? Not criticising your design at all, it looks great, but those are some of the questions that cannot be answered by anything other than videos of the RN using the real parts in the real world.

But, in your later post, it sounds as if you're also just creating the drawings 'gratis' to get a theoretical price down, and for the benefit of all the end-users, which is great, too. Just trying to get to the bottom of all your posts about all your designs and the costs you mention you would charge in all of them, to see where you are going.

So where can I download your CAD drawings?

Statistics: Posted by beermat — Sat Aug 05, 2006 3:13 pm

Build it they will come?

2006-08-06T07:08:42+01:00

...

Statistics: Posted by CaptKill4Fun — Sat Aug 05, 2006 11:24 am

Alternative Gripper for the RoboNova-1

2006-08-05T07:02:30+01:00

CaptKill4Fun - I do notice your occasional post in here, just once in a while, occasionally, about the parts you are planning to make..... However, I think if you want people to start ordering, you're going to need a bit more than CAD representations or cardboard cutouts to convince people to order, however encouraging the parts look in theory.

I'm not sure how much a shop would charge you for a run for a single set, but I think at some point you should bite that bullet, prove to us all (and to yourself?) that you can get them manufactured, and show us a video of a Robonova wearing the finished deal. Then you'll see orders.

Matt got it done and done well, and sold a lot of them at a premium, according to the pricing you are discovering. But sold them he did, because he made them, they were cool, we drooled, and we ordered. If you prove you can do the same, at half the price...well, as they say, if you build it, they will come.

Statistics: Posted by beermat — Sat Aug 05, 2006 7:02 am