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Thread: uArmⅠ:An open source robot arm Project

  1. #1

    uArmⅠ:An open source robot arm Project

    uArmⅠ is a small Palletizing Robot refer to ABB PalletPack IRB 460. You can also use it as a robot arm and make a development of it to make more interesting applications.

    Click image for larger version. 

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    In order to make it more flexible and easy driving, I have also made two kinds of Chassis of the robot arm.
    One is a simple 2WD car as you can see in the following picture.


    The other one is a 4WD car. I have added 4 Shock Absorbers on it as you can see in the following picture.


    So you can install the robot arm on the Chassis and use this platform to do further applications on the ground.
    Next, a special gripper for this robot arm is in designing and will be updated soon.
    Last edited by UFactory; 01-23-2014 at 06:25 AM.

  2. #2

    Re: uArmⅠ:An open source robot arm Project

    That looks very cool. Well cut parts, too!

    The repeatability doesn't look that great when those wheels slide around like that, though :-)

  3. #3

    Re: uArmⅠ:An open source robot arm Project

    Quote Originally Posted by jwatte View Post
    That looks very cool. Well cut parts, too!

    The repeatability doesn't look that great when those wheels slide around like that, though :-)
    Yes, it is just a test video for that and we are making the improvement now. We will update another video soon.

  4. #4

    Re: uArmⅠ:An open source robot arm Project

    We have made the second version of uArmⅠ. In this version, you can change the head of the arm, so the fourth servo on the head of the arm can face down and forward by different install ways. A special robot gripper is in designing.

  5. #5

    Re: uArmⅠ:An open source robot arm Project

    Here is the design which I refer to, the World's Fastest Palletising Robot - ABB IRB 460.


  6. #6

    Re: uArmⅠ:An open source robot arm Project

    The acrylic parts of new version of uArmⅠ v1.1 is arriving now.

    Click image for larger version. 

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  7. #7

    Re: uArmⅠ:An open source robot arm Project

    From now on, there are two kinds of choices for the head of the robot arm.
    One is a sucker and the other is a servo for installing robot gripper on it. You can see two of them in the following picture.


    On the other hand, there are also two ways to install the head to the robot arm. One is to face down and the other is to face forward. The following picture shows the parts for different install ways.


    Install the sucker to the head of the robot arm.




    Install the servo motor to the head of the robot arm.




    The second way for installing.


    Attached Thumbnails Attached Thumbnails Click image for larger version. 

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    Last edited by UFactory; 12-06-2013 at 01:43 PM.

  8. #8

    Re: uArmⅠ:An open source robot arm Project

    Your pictures are well taken. I'd love to see some equally carefully collected numbers!
    What is the precision of the head when the arm is fully extended?
    What is the payload weight for a fully extended arm?
    How much flex and backlash is there in each of the stages?

  9. #9

    Re: uArmⅠ:An open source robot arm Project

    Quote Originally Posted by jwatte View Post
    Your pictures are well taken. I'd love to see some equally carefully collected numbers!
    What is the precision of the head when the arm is fully extended?
    What is the payload weight for a fully extended arm?
    How much flex and backlash is there in each of the stages?
    More details and test will be updated soon.

  10. #10

    Re: uArmⅠ:An open source robot arm Project

    The second test of uArmⅠ, in this version we add 4 suckers on the chassis of the arm to mount it on smooth surface.


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