RoboSavvy Forum

Grippers for a Bioloid

2007-05-29T18:31:34+01:00

The cameras are wireless - they feed back to the controller PC. The concept here is all the "brain" functions happen on the PC, and the wifi interface gives us a low latency high bandwidth channel to the bioloid bus - I'll be able to update the position of 25 devices, and read sensor data from those 25 devices, at 30 frames per second.

Right now I'm planning on using RoboRealm with those cameras - I've already tried it (RoboRealm), and it works great...

I should have something running soon that allows me to track a colored ball moving around with the pan & tilt head.

- Jon

Statistics: Posted by JonHylands — Tue May 29, 2007 6:31 pm

Grippers for a Bioloid

2007-05-29T17:44:38+01:00

Looking very nice.

Have you got any code working for those cameras and the coordination.

Bren

Statistics: Posted by Robo1 — Tue May 29, 2007 5:44 pm

Grippers for a Bioloid

2007-05-29T02:47:23+01:00

Danger. Danger. Danger Will Robinson.

Very cool.

Statistics: Posted by billyzelsnack — Tue May 29, 2007 2:47 am

Grippers for a Bioloid

2007-05-29T02:38:46+01:00

Ask, and ye shall receive...

I've still got a small amount of fixing to do in the code for the grippers, but its almost completely there.

- Jon

Statistics: Posted by JonHylands — Tue May 29, 2007 2:38 am

Grippers for a Bioloid

2007-05-28T13:01:12+01:00

Brilliant gripper - look forward to seeing it on BrainBot

Statistics: Posted by Pev — Mon May 28, 2007 1:01 pm

Grippers for a Bioloid

2007-05-28T04:17:44+01:00

Hey limor,

Probably tomorrow... I'll post it here...

- Jon

Statistics: Posted by JonHylands — Mon May 28, 2007 4:17 am

Grippers for a Bioloid

2007-05-27T23:42:09+01:00

when do we get to see it mounted it on the BrainBot..

Statistics: Posted by limor — Sun May 27, 2007 11:42 pm

Grippers for a Bioloid

2007-05-27T17:36:37+01:00

So, much progress has been made on the grippers - I plan on finishing them later today. Here's where I am right now:

This is a picture of the underside, showing the mounted PCB, and the wrist gearmotor. The PCB has an ATmega168 onboard, 2 h-bridges, and a pile of connectors.

Here's some detail on the wrist setup.

And finally, here's a short movie, showing both the gripper and wrist under control of the on-board ATmega168...

phpBB [media]

- Jon

Statistics: Posted by JonHylands — Sun May 27, 2007 5:36 pm

Grippers for a Bioloid

2007-05-03T18:26:29+01:00

Ahh, okay, I understand. The problem is, in order to do internal hollows, the machine actually lays down a soluble support layer inside the hollows to hold up the solid areas above it - otherwise, the liquid ABS would just run into the hollow when you tried to cover it over.

Once the piece is done, you place the part in a dissolving tray, and the support structures go away.

There really isn't much need for a cutting phase - anything you can cut, you can just not put ABS there.

- Jon

Statistics: Posted by JonHylands — Thu May 03, 2007 6:26 pm

Grippers for a Bioloid

2007-05-03T17:39:36+01:00

I mean that you do a pass of glue. Then a pass of cutting. So internal features would work too.

Statistics: Posted by billyzelsnack — Thu May 03, 2007 5:39 pm

Grippers for a Bioloid

2007-05-03T13:43:52+01:00

Well, you could do that, but in reality the model I had printed has internal hollows which you just can't machine. There is a channel that goes from the indent on the bottom gripper (for the pressure sensor) through the base, and into the PCB enclosure.

http://www.xardas.com/Examples.html for some examples of things this guy has printed.

- Jon

Statistics: Posted by JonHylands — Thu May 03, 2007 1:43 pm

Grippers for a Bioloid

2007-05-03T01:49:01+01:00

Very cool.

Seems like you could have a hybrid machine that had a glue head and a cutting head. Do a a rough layer pass with the glue and clean it up with the cutting pass.

Statistics: Posted by billyzelsnack — Thu May 03, 2007 1:49 am

Grippers for a Bioloid

2007-05-03T00:15:54+01:00

I just love 3D printers.

I'm currently using one to design my new biped. I just have to give a CAD if to the man that runs the machine come back the next day and it's just there. The only limitation is your imagination it can literally build any shape.

When I get some time I will up data my home build thread, things are coming along nicely.

Bren

Statistics: Posted by Robo1 — Thu May 03, 2007 12:15 am

Grippers for a Bioloid

2007-05-02T20:17:45+01:00

3D printing is a very cool, relatively new technology. Basically, you have something that looks like a CNC milling machine. Instead of having a cutting head, it has a printing head. It takes a spool of ABS "wire" (about 2-3mm diameter) and feeds it down into the print head. The print head melts the plastic, and extrudes it out a very small nozzle, so the printer has the ability to lay down a "line" of ABS. Because the print head can move in three dimensions, it can lay down thin layers of ABS, which when built up form 3D shapes.

Look at this site: http://www.reprap.org

- Jon

Statistics: Posted by JonHylands — Wed May 02, 2007 8:17 pm

Grippers for a Bioloid

2007-05-02T19:12:30+01:00

They look great and seem to work really well.

Can I show my ignorance and ask what you mean by printed parts? I assume this is some sort of method of printing a 3d design to a cutting machine???

Pev

Statistics: Posted by Pev — Wed May 02, 2007 7:12 pm