Newbie asking for suggestions

**SamQ** · 11-01-2008

Hi All, (and Happy Halloween!)

Halloween just passed, so I'm interested in starting on a "Borg" (Star Trek) costume for next year.
Part of the costume will be a forearm (sleeve over human arm) that has a robotic end effector (pincer-type) that spins left and right and opens and closes it's claws.

The idea is to have an end effector with 1 degree of freedom ( the rotation capability) to be operated by 3 buttons from within the sleeve. An idea is to have a button for left rotation, a button for right rotation and a button to open and close claws.

Being a tyro at robotics (but a master at software programming in general), I'm looking for suggestions from the more experienced robotics community.

Specifically, I'd like to be pointed towards any reasonable path that helps me to achieve my goal.
My goal is two-fold; to create the robotic (mechatronic) end effector capability and to learn as much as possible about robotics in the process.

Currently, I don't know how to really begin, except for believing the following:
1- need at least 2 servo motors (maybe dynamixels?)
2- need some way to control the servos
3- if programming is required, it would be nice to use C# (I like it)
4- need to use batteries as power for mobility
5- need a way to calculate power requirements

I'm sure I could spend several days scouring the internet for answers, but it seems better to address a community that may already be familiar with great solutions I'd never think about given my level of experience.

Any and all comments/suggestions are appreciated.

SamQ

**Rudolph** · 11-01-2008

Maybe a regular motor for the "wrist" action? With a properly designed rotating cuff (open/close servo behind the "hand") you could then grab things and spin them > 360 degrees.

Check the front brakes of certain BMX bikex (or similar) for a method of pulling through a rotating device.

(why can't I think of the names of any of the things I'm picturing?)

**Adrenalynn** · 11-01-2008

Welcome to the forum!

I like the idea of a motor to spin the claw. Accuracy isn't a requirement really.
A small motor controller, like a little Banebots, would be perfect. Plug that and an HS-645MG into a microcontroller. You're done.

Programming: Unless you want to lug around a PC, C# isn't really applicable. Straight C or an offshoot language for the Arduino called "Wiring" is pretty easy for a C# programmer to pick up though, and will run on the microcontrollers.

The Arduino can take a handful of analog inputs and turn those into 10bit digital values, as well as digital inputs. So a potentiometer or push-buttons can be read and acted upon.

That'd be the direction I would go.

I'm enclosing a picture of Crustcrawler's gripper so you can get an idea how to actuate something like your gripper with a servo...

Again - welcome!