The web service installed at Raspberry Pi 4 (8GB ram) + 3.5inch lcd, now AR3 can run independently from PC. and manage fully by web service

I feel J5 is very fragile, no matter how i adjust tension it once a while 'jump step' cause by belt tension not so good. Beside, it also cause AR3 can't lift heavier object, so I tried simple modification by adding my own tension adjuster.

Now I feel the belt tension is better.

How I did:

1. Make 2 hole in J5 housing

2. find 1 L shape aluminium bracket (Everybody have old stuff can dissemble and find goodies)

3. 3D print a mount so that I can mount at L-shape bracket, and allow install a long m3 screws.

4. some m3 screws (im used total 5, long screw roughly 18mm)

When I draw the mount, I notice that my 3D plastic mount's edge block the J5 housing centre piece move, so i need to trim the mount's edge.

Now I can disable stepper driver and move j5 reliable, and seems it won't 'jump step' from belt anymore.

I recommend Chris add similar adjuster into standard design to improve J5 durability.

* However, I'm not 100% satisfy with this hack, i feel inside J5 housing use warm gear or pinion gear + rack will be much reliable, however it seems high risk for me cause Im very idiot in all this mechanical stuff.

After I change it, it no longer jump step with heavier object (near 2kg).

After I hang the object into AR3 as above image, I notice J2 and J3 lift the object without issue. when I try bring up J5 then it can't hold, the J5 will go down which by right should go up. So the bottle neck of AR3 still at J5, just change from belting issue to motor issue.

I thinking is it possible to change some jumper at stepper driver and change some setting in program, to let make J5 use strong power?

Hi Kstan,

Great work so far with your project, keep it up.

Too bad my project is stuck at the moment. Out of nowhere the mainboard of my 3D printer got bricked and I have to order a new one.

Latest build with 100% web control robot ARM with XBOX joystick,

Now I can control AR3 via network, show time!

thanks, I feel pretty well organize and scalable in my code. The code is much lesser and by right it is easy to understand.

It already support:

1. joint movement (move x degree, or move to absolute x degree)

2. calibration

3. track movement (only 1)

4. open close gripper (only 1)

Hi Kstan,

You are making great progress with your webservice and it looks very promising. When I finish my AR3 I will sure take a look at your code.

I'd created web service for AR3 (only AR3, encoder needed), it work for me so far. With webservice you can work with AR3 without ARCS software.

Below I show a simple program in command line and execute it, pure http restful api.

However I not guarantee it is stable and while you try this, always standby your hand at E-stop.

Demo working AR3 with joystick:

I'd finally complete the basic AR3 installation which included: 1. Using Raspberry PI to control AR3

2. bundle with XBOX Joystick and mini wireless keyboard/mouse (PI came with only 4 USB port, which is connected to Teensy, Arduino Mega, Xbox joystick, and wireless mouse/keyboard adapter). All component setup within aluminium trolley, included ARM, Electronic enclosure, container for joystick, keyboard/mouse and smaller LCD (coming soon).

3. added 1 low cost metal gripper (can buy online) , the servo motor better use metal gear and durable (20kg torque and won't damage under higher temperature)

4. add 1 button at handy place to disable all stepper driver so that i can move arm into desire position. When I release button the button the stepper driver will enable. It is very useful in situation we want position arm into correct position, which is mouse and joystick cannot do easily.

If you wish to connect ARM to Raspberry PI instead of computer, you may: 1. Buy dedicated Raspberry PI power supply adapter as first photo to provide sufficient power

2. Download ARCS Version 1.0 (source), and change "ARCS.py" source code follow another topic https://www.anninrobotics.com/forum/questions/macos-software-compatibility

3. install require python module in Raspberry PI:

sudo pip3 uninstall serial # make sure no conflict with serial
sudo pip install pyserial inputs # get pyserial and get "inputs" for xbox

4. Run ARCS program via command line

python3 ARCS.py

5. Put suitable serial port into configuration and try it

1. teensy port : /dev/ttyACM0 (you may have different port)

2. arduino mega: /dev/ttyUSB0 (you may have different port)

I have another source code which got optimize UI for *nix, if want can contact me.

a. Mac

b. Linux (It is tested on raspberry pi only, other OS may look weird due to linux have so much kind of themes and desktop manager).

I not yet create github repository, I hope Chris can create AR3 repository then I can send pull request, cause all effort is his credit.

I'd tried program this robot arm to pick a glue stick. I'm so happy cause it work as expected.

Explanation of structure and show my linear track.

Still lot of to do: 1. logo, sanding & painting to 3D printed area and enclouse (to avoid rusty)

2. encoder cable not working, need fix connector (I used own make encoder cable, connector have issue. You guy seriously don't make own encoder cable it will make your life difficult)

3. Put raspberry pi into project, I'd tested but seems like arm drain too much power from raspberry pi and it cause shut down. Any of you able to overcome it?

4. Make it work in some real project

5. Hopefully, have time to rewrite ASCR.py to make it become web/api environment. If any of you feel interested can join my development.

Hi Kstan,

You mentioned that Chris Boden has stopped making his videos. I thought that too but turns out he‘s just posting them to his other channel. You can find his videos here:

youtube.com

Chris Boden is a science educator, engineer, and author working to educate, inspire, and entertain.

I’ve also been following along and find his videos really helpful. Hope that helps!

Use metal electronic enclosure, bad experience!