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Binary Rock

  1. 2008

2008-10-06 - Steve, The Disembodied Robot Arm

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  • My latest project arrives -- the parts to build a robot arm

    My latest project arrives -- the parts to build a robot arm

  • Untitled photo
  • There's a lot of work to be done

    There's a lot of work to be done

  • Starting with the rotating base

    Starting with the rotating base

  • Installing the bearings (just steel rods through nylon balls)

    Installing the bearings (just steel rods through nylon balls)

  • Smoothing out the bearings with sandpaper

    Smoothing out the bearings with sandpaper

  • Open up the main arm parts bag because we need the mounting bracket

    Open up the main arm parts bag because we need the mounting bracket

  • Bracket installed on baseplate

    Bracket installed on baseplate

  • Lacking 3-in-1 oil, I figured my robots can use the same oil as my motorcycle

    Lacking 3-in-1 oil, I figured my robots can use the same oil as my motorcycle

  • Servo installed in base

    Servo installed in base

  • Baseplate installed

    Baseplate installed

  • Removing protective covering from lexan. Clearly these parts were cut with a laser

    Removing protective covering from lexan. Clearly these parts were cut with a laser

  • Power jack and switch installed

    Power jack and switch installed

  • Next we move on to the gripper

    Next we move on to the gripper

  • More protective plastic removal

    More protective plastic removal

  • Before

    Before

  • After

    After

  • Untitled photo
  • More assembly

    More assembly

  • Wrist rotate servo mounted

    Wrist rotate servo mounted

  • Lots of small lexan parts to prepare

    Lots of small lexan parts to prepare

  • More assembly

    More assembly

  • Untitled photo
  • Untitled photo
  • Gripper servo mounted

    Gripper servo mounted

  • Assembling gripper mechanism

    Assembling gripper mechanism

  • Untitled photo
  • Gripper mechanism complete

    Gripper mechanism complete

  • Assembling the main arm components -- more servos

    Assembling the main arm components -- more servos

  • Assembling the forearm -- even more servos

    Assembling the forearm -- even more servos

  • Clever adhesive clips turn servos into hinges

    Clever adhesive clips turn servos into hinges

  • Forearm assembled

    Forearm assembled

  • Forearm installed

    Forearm installed

  • Gripper installed. Arm complete!

    Gripper installed. Arm complete!

  • Electronics mounted on custom adapter plate. Arduino Diecimila for primary control, and Pololu Micro Serial Servo Controller to handle the drudgery of communicating with all those servos

    Electronics mounted on custom adapter plate. Arduino Diecimila for primary control, and Pololu Micro Serial Servo Controller to handle the drudgery of communicating with all those servos

  • Seven servos consume a surprising amount of power. I had really flaky performance with the 4xAA battery pack, but this 2.5A AC adapter took care of that problem

    Seven servos consume a surprising amount of power. I had really flaky performance with the 4xAA battery pack, but this 2.5A AC adapter took care of that problem

  • The 'remote control' I built -- originally meant to be a quick hack, I ended up spending two days making it way nicer than it needed to be

    The 'remote control' I built -- originally meant to be a quick hack, I ended up spending two days making it way nicer than it needed to be

  • The LED both indicates that power is on but can also be flashed to communicate things back to you

    The LED both indicates that power is on but can also be flashed to communicate things back to you

  • Look at that, a fancy grommet and rubber feet and everything

    Look at that, a fancy grommet and rubber feet and everything

  • The controller connects to the Arduino's six analogue inputs, along with power, ground, and an I/O pin for the LED

    The controller connects to the Arduino's six analogue inputs, along with power, ground, and an I/O pin for the LED

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