I need to admit that the AR robot is an extraordinary hobby robot. Thanks a lot Criss for sharing this project with us, but one person cannot conceive every aspect of a project and make it perfect from the first attempt. For this robot to grow, Criss also needs some help. So, every individual who built and tested it encountered some issues that didn't work perfectly on their application initially. Pls Post.
My first complaint is the need for a computer to connect in order for it to function.
Solution 1: Replace the Teensy with a Raspberry Pi 3 or a similar device.
Solution 2: Implement a card slot to upload a program and add buttons (run-stop), but this may disable the use of vision.
My second complaint is that most of us use this robot indoors, at home, or in the garage, so we opted for an electric gripper. However, we still need to use a Teensy and Arduino along with a separate power adaptor.
Solution: To power the gripper motor, I utilized a step-down DC-to-DC converter but also need to move the control pin from the Arduino to the Teensy. ( pls help Criss)
Let's repurpose the Arduino solely as an input/output device to connect and interact with a separate machine that can be mounted independently.
Once I finish, I'll upload a board that uses a smaller motor controller and filters for encoders. My dream is to integrate the controller with encoders on the motors to minimize the wires going to the arm.
I urge all capable individuals to share better ideas than mine to contribute to making this project even greater and to assist Criss in advancing his creation (the AR robot).
This is my first idea, is not tested i will build this soon ( probably after ill lock another 20 times over it)
it`s a pcb to reduce the amount space and be able to mount other things)
as drivers i-m intending to use DRIVER STEPPER DRV8825 and a step down dc- dc convertor for gripper.
On control pin of servo motor i mounted a jumper to be able to get the signal also from other sources ( arduino)
I'm also hoping to throw a pneumatic suction cup gripper on there. Claws are great but they have their issues. I currently have a pneumatic gripper. The stroke is severely limited and without flow rate limiting the inlet/exhaust, it kinda kicks your part around at times. Servo grippers don't exactly have force sensing from what I know. I think a suction cup gripper would be a sweet spot. It would let people do stuff like stack jenga blocks with zero clearance on the sides, and maybe even pull blocks out. While you will be limited on what you can grab (so it is compatible with suction), I think it would be hella useful.
I have just started with the robot. Will post more info later. It's like 2am and I have to be up by 6. Q_Q I did have to do a little bit of sanding, deburring, and reaming to make some things fit, but overall I think mechanically I don't have anything in particular i can point to that will make any significant improvements. Mechanics:
If there was one thing, it would be that the 3mm rods gave me a ton of trouble. It looks like the set screw holes and tapping was done after the rod holes were drilled. | I understand that we are trying to keep the number of setups down so we don't waste money on machining. However, in order for the rods to slide in smoothly, I would imagine the rod holes need to be drilled AFTER the set screw hole and tapping. Otherwise the bur will make it pretty impossible to insert. (I bent a rod and slightly damaged the machined part trying. D:)
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Luckily, a 3mm reamer was able to clean everything up nicely. It definitely wasn't a deal breaker. And maybe only an issue for me specifically, but something to look at.
Software: Right now, I'm having some issues with the Jump Tabs. I can't seem to get it to work at all. That's the biggest challenge I've run into so far.
I do intend to delve into the source code and try and improve some things on there. (Like hoping to detect configuration changes and stop the user from running linear moves across different configurations. - Inverted elbow might come in handy in some places.) Also, I was getting some VERY weird motion when I went through a configuration change. Like J4 hitting the back of the its own limit switch kinda weird. I want to look into that at some point.) I do want to say that it does feel bad to just compile issues. It really seems like Chris is one man against the world right now. While it's nice to gather all the issues in one place, it might also seem overwhelming. D: Sorry Chris!