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Robot_Study/Open Manipulatr



1. Information

I planned this project for my graduation paper.
If you want to join this project, please write your name on the "Comment" part.
Actually, this project was combined with "Capstone Design (2)"

Caution
- I will spend a lot of money for the project.
- This project requires a lot of effort and time, and this page will be not regularly uploaded.

Reference
- https://robots.ros.org
- Introduction To Robotics: Analysis, Control, Appl Ications amazon

2. Plan

- Learn how to use modeling program (CAD, Solidworks)
- Learn how to use 3D printer
- Learn using Open-Source board

3. Progress

3.1. Definition

In robotics a manipulator is a device used to manipulate materials without direct contact.
Easily, it is called as robot arm.

3.2. Resource

3D printer
- I contacted with FMA lab.
- I got a agreement to fix it, so I will handle it.
- Filament: ABS (Acrylonitrile, Butadiene, Styrene), PLA (Polyactic Acid)
For postprocessing, I poured lots of time.
Please use ABS, if your model is not final one or your printer is cheap.

3.3. Material

Actuator: XM430-W350-T
Cicuit: OpenCR 1.0
Frame: FR12-S101-K, FR12-S102-K, FR12-H101-K, FR12-H104-K
Miscellaneous: WB-M2x3,4/ WB-M2.5x4, 6, 8, 12 / WB-M3x10

3.4. Printing

Hard to print model, require lot of efforts

4. Capstone Design Project

4.1. Controller

Design trajectory

5. Comments

I finished building robot-arm during the capstone design project (2).
It had required a lot of effort. I had spent almost 6 weeks to finish made a robot.
Thank you. Jun. 10. 2019
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