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Thread: 3DOF palettizing robot running on Arduino

  1. 3DOF palettizing robot running on Arduino

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    50cm reach. 0.05mm precision at full extension. Max load untested.

    I used an UNO and two Adafruit motor shield v2. Limit switches so the software can home on demand. Understands GCODE thanks to https://github.com/MarginallyClever/Gcodecncdemo.

    The IK code is written and being tested. I'm at the Seattle Mini Maker fair this weekend and I brought it along to keep me busy while my other machines show off.

    I'm looking for the right encoders to give this machine some force feedback safeties and training abilities.

    What you'd like to see this arm do?

  2. #2

    Re: 3DOF palettizing robot running on Arduino

    How big is it, it's kind of heard to get an idea for the size. It has a nice weathered factory look, did you tweak the picture lighting?

    It reminds me of the uArm:

    http://forums.trossenrobotics.com/sh...ot-arm-Project
    https://www.kickstarter.com/projects...ot-arm-on-your
    Last edited by CasperH; 03-22-2014 at 01:58 PM.

  3. #3

    Re: 3DOF palettizing robot running on Arduino

    This is surprising!
    I would expect the backlash, and the flex in the wood, to be on the order of millimeters out at 50 cm (assuming this is laser cut plywood, and the length between joints for each segment is 25 cm) 0.05mm is 50 micron, or two thousandths of an inch. Many all-metal milling machines don't get that kind of precision!
    Could you show how you calculated (or measured) this value?

  4. Re: 3DOF palettizing robot running on Arduino

    Quote Originally Posted by jwatte View Post
    This is surprising!
    I would expect the backlash, and the flex in the wood, to be on the order of millimeters out at 50 cm (assuming this is laser cut plywood, and the length between joints for each segment is 25 cm) 0.05mm is 50 micron, or two thousandths of an inch. Many all-metal milling machines don't get that kind of precision!
    Could you show how you calculated (or measured) this value?
    Yes, backlash is a serious problem. I guess I should say that the motors and the gearing and the electronics can - in theory - achieve as much as 1/20th mm precision. I'm working up to it. I'd be happy with repeatability <1mm for v1.

    Yes, it's very similar to the uArm. I don't like uFactory. I don't like their methods. I don't like their claims. The only thing they've done right is given me the kick in the pants to finally stop talking and get building. This arm is just the start.

  5. Re: 3DOF palettizing robot running on Arduino

    Last edited by aggrav8d; 03-24-2014 at 05:28 PM. Reason: reasons

  6. Re: 3DOF palettizing robot running on Arduino

    Writing "HELLO WORLD!" had to create the gcode by hand. :P


  7. #7

    Re: 3DOF palettizing robot running on Arduino

    You need to display the drawing in full frame when it's done :-)

  8. #8
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    Re: 3DOF palettizing robot running on Arduino

    So what's the actual precision like, and could you improve on the pen holder (saw it wobbling a lot)?

    I'd like to see a full shot of the drawing as well.

  9. Re: 3DOF palettizing robot running on Arduino

    jwatte - the original post on my site includes the result picture close up.

    th232 - I just switched to a arduino+RAMPS controller with 1/16th microstepping and the precision is great, plus all the crunching noise is gone. A better pen holder would greatly increase the print quality. The pen holder was intended for a Sharpie, but the grip was so tight that it was smashing the pen into the table and damaging the nib. I used the next pen I could find that didn't drop through the holder, which is what you see here.

    I printed that pen holder just to show an application. The only tool I'm interested in making is an automatic tool changer. I see the potential for ANY tool, so focussing on just one seems like an poor use of my time.

  10. #10
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    Re: 3DOF palettizing robot running on Arduino

    Good to hear the control is improving, I look forward to seeing future videos of it.

    Maybe I'm missing something though, but looking at your pen holder I'm not sure how grip tightness would cause the pen issues. Shouldn't that issue stem more from control and resolution of the Z axis since all the holder is doing is applying a radial force on the pen?

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