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Post by Bones on May 11, 2005 23:57:01 GMT 10
Thanks Kiwi,
Any info would be good. I would like to see how other people ar building there's. My hand is more like the shadow hand but not as intricate. It is copied from a wooden manican hand like the art shops have.
Using 16mm solid round rod for the joints and 16mm tube between the joints.
I'm off to KL next week to see what robot toys and parts I can get. Mini servos for the hand. 20 for each hand.
It will have full movement. A bit of a progect in itself. But I am milling up the finger joint now to test it all.
The new design of the arm is nearly finished.
Will get pics uploaded soon.
Bones
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Post by Kiwi on May 22, 2005 23:41:59 GMT 10
Hey! Sorry its been awhile, unfortunatly, my project is suposed to take the whole year so I cant just bang out my ideas quickly, I have to reitterate them and come up with the best design etc. Im currently working on my 5th generation of pro E models, still just on a single finger. Although it still doest seem that impresive  Just telling ya why I havent been able to post it yet, when I have the final mechanical design ill post it. Looking foward to seeing yours though. |
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Post by Bones on May 23, 2005 0:17:14 GMT 10
Hi,
No worries. I've been in KL Malaysia for the last week. Not much goodies over there for me except computer parts. Singapore would of been the go but to much hassel to get there from KL. maybe next time.
Now I'm home I'll get stuck into the robot. I'll post the fingers soon.
Bones.
P.s. If you get a chance kiwi register in the forum.
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Kiwi
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Post by Kiwi on May 27, 2005 2:45:57 GMT 10
Ok I have pretty much finished the design of the finger now. It uses a combination of a piston and a motor, to actuate it. I figured that using both allows for a strong gripping force from the pneumatics, and accurate positioning with the motor. Also if I venture deeply into the control side of it, I rekon using both similtaniously will speed things up, or slow them down. Anyway Just to make it look good, I displayed 5 fingers in a hand like shape, I havent yet designed how I am going to link the fingers together or rotate the thumb, so that is why everything appears to be floating in space. If you have any questions or want to see a mpeg of how it works (only 300kb) I will email it to you. Hopefully theses photos work    Oh yeah I figure in the final design, I will probably cut out a few of the actuators and have several fingers opperated similtaniously by the same ones, I will keep the index and thumb with their own actuators and link the rest due to cash restrictions, also those fingers work as a group in most gripping activities anyway. |
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Post by Bones on May 27, 2005 14:38:51 GMT 10
Hi,
Wow. Nice. Yeh I love the avi. What program did you do the design in. Is it possible to get a copy of the file.
My email is bones@arach.net.au
Regards
Bones (Rod)
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Post by Dingo on May 27, 2005 20:07:42 GMT 10
Wow, nothing displays a concept like a really good quality image!
BTW what sort of weight is it all and what sort of gripping power are you expecting it to produce?
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Kiwi
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Post by Kiwi on May 28, 2005 2:16:48 GMT 10
Ok I emailed you the video Bones! Hope you can make some sence of it.
It was designed using proEnigneer wildfire That program is great as you can get all the parts moving after assembly, you can even do heat and stress analysis if you really wanted. But it is complicated as it has so many features, if you have done Cad work before you should be able to pick it up pretty easy though. Although getting a copy of it cheap is a real challenge. I paid heaps for a 2 year educational licence. Noramlly they give you educational versions of software for free, especially if you get it through an institute like a university. But not ProE.
Not to sure of the weight yet, put I have specified most of the parts as aluminium so it should be pretty light. The fingers are all the same length as a human hand so it will be able to interact with human objects.
Hmmm not to sure on the gripping forces just yet, but the university keeps on trying to get us to use an RC geared motor. The ratio was something rediculously high, but I think that is stupid. It would be way to slow and the aluminimum would tear before all the force would be applied. I havent had much of a play with the actuators yet, but Ill give the hands specs when I find them out.
Does anyone have any recommendations for a cheap small motor that can apply a fair amount of torque at about 6 revs per second? Or if pneumatic swivel joints for around 4mm pipe are cheap?
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Post by Bones on Jun 1, 2005 11:17:28 GMT 10
Hi,
The video was great. Works nicely. You could make small pistons for the actuators. I'm looking at servos, nice and cheap sort of. Still $11 each for the mini servos.
I finished the prototype on the shoulder. Pics should be up soon. Now I have to put the air muscles on it to see how the strength is.
bones
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Post by Dingo on Jun 1, 2005 22:04:08 GMT 10
I'll get those pics asap - just having a little difficulty getting a CPU for my other machine which is the easiest to upload from.
Hopefully it shouldn't be long at all before I get them up.
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Post by Bones on Jun 2, 2005 0:48:03 GMT 10
No worries Dingo,
When you get a chance. What CPU are you chasing.
I might have. Or can get.
Bones
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Post by wannabe70 on Jun 7, 2005 6:43:09 GMT 10
Hiya,
I was curious as to where you get servos for $11.
Regards,
Paul
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Post by Bones on Jun 9, 2005 21:21:19 GMT 10
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Post by Bones on Jun 16, 2005 21:59:17 GMT 10
Hi,
I've ordered some of those mini servos. I'll let everyone know how they go.
1 week left of TAFE and then the robot building really starts.
Bones
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Post by Bones on Jun 25, 2005 13:05:04 GMT 10
Hi,
The servos turned up really quickly. 5of them cost $62 delivered.
Still have to test them yet but I think they will be ok.
Tafe is finished for a bit so the robot work starts tomorrow. I have redesigned the air muscles to and easier design to machine. I will send pics through soon.
And the new shoulder design to suit will be getting built too.
Bones
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