DPRG
DPRG List  



[DPRG] Big Robot Project

Subject: [DPRG] Big Robot Project
From: Doug Paradis paradug at gmail.com
Date: Wed Jan 15 16:09:46 CST 2014

Here is a picture of Ron Grant's model of the Big Robot Project.

 RobotModel-RonG.JPG<https://docs.google.com/file/d/0B2-gRbVt02ilUW1WdnI2QkxiMW8/edit?usp=drive_web>

Regards,
Doug P.


On Wed, Jan 15, 2014 at 3:52 PM, Doug Paradis <paradug at gmail.com> wrote:

> At this week’s RBNO,  the Big Robot Project was a subject of a long
> discussion/brain storming session. RBNO was well attended and a lot of
> design points were settled. Also, a few to-dos were generated. Thanks to
> notes from Steve Edwards, I will summarize where the project is going.
>
> PROJECT:
>      Build a 6 foot tall pose-able robot that would be used for DPRG booth
> demonstrations.
>      The robot would:
>             1.  Follow closely the model proposed by Ron Grant at the
> January monthly DPRG meeting.
>                      This model includes:
>                            1.  One DOF joints at shoulder and leg/waist -
> sleeve over shaft type.
>                            2.  One DOF joints at both knees and elbows –
> hinge type.
>                            3.  Neck joint would have pan and tilt
> capabilities.
>                            4  Leg and Arm sections are made of 4” PVC
> thin-wall pipe with ID = 4.0” and OD = 4.1”.
>                            5.  Head and torso sections have a
> generally rectangular shape. Constructed of flat panels set into frames.
>             2.  Robot functions in order of priority are:
>                     1.  Head able to track a human face.
>                     2.  Right wrist capable of rotation at least 180
> degrees – wave.
>                     3.  Left arm capable of at least 90 degree rotation at
> elbow  -- raise forearm.
>
> CURRENT TO-DO LIST:
>     [  ]  Make model files available to group.(ASAP)  - Ron G.
>     [  ]  Explore use of worm gear vs. counter-weight based method for
> elbow joint (next RBNO) – John K. and David K.
>     [  ]  Torso frame rough design (next RBNO) – David K.
>     [  ]   Print example hinge type joint (on availability of model files)
> (next RBNO) – Jason H.
>     [  ]  Summarize meeting results (ASAP) – Doug P.
>
> CURRENT DESIGN DECISIONS:
>     1.  Motors will be bipolar stepper motors.
>     2.  Motor Controllers will be Pololu stepper motor controller type
> (real or clone) or L298N eBay type .
>     3.  Robot will use laptop for primary computation and vision system.
>     4.  Primary embedded controller will be Arudino Mega R3.
>     5.  Pre-posed arms considered as alternative for several joints
> (depends on outcome of demo joint).
>     6.  Panel material 1/8 inch Plexiglas.
>     7.  Frame material light slotted angle iron (steel or Al).
>     8.  Wrist end effectors – non-functional 3-D printed stylized
> grippers.
>     9.  Use shear pins when possible to prevent damage.
>   10.  Neck joint design proposal:
>  BigRobotProject-pan_tilt_head.pdf<https://docs.google.com/file/d/0B2-gRbVt02ilWmhneEpNTlBoclU/edit?usp=drive_web>
>   11. Use 4.1” circular sleeve as least 4” long as standard interface
> between modules to allow replacement or upgrade of joints or end effectors.
>
> AVAILABLE RESOURCES (Donations if needed):
>     1.  Laptop  -- Jason H.
>     2.  Webcam  -- Richard N.
>     3.  Stepper Motors (various sizes) –  Jason H., Doug P.
>     4.  Up to 10 feet of 4” thin wall PVC pipe – Ron G.
>     5.  DDT500 pan and tilt adapter – Ron G.
>     6.  L298N type stepper motor controllers (up to 4) – Doug P.
>     7.  Batteries up to 2 (laptop / LiPo) – Jason H.
>     8.  Arudino Mega controller board – ?  (If anyone has an extra,
> please....)
>
> Finally, welcome to new DPRG member, David Kessinger. David’s area of
> expertise is on the mechanical side.
>
> Regards,
> Doug P.
>
>
> On Mon, Jan 13, 2014 at 11:21 AM, Ron Grant <deltagraph at aol.com> wrote:
>
>>  Doug,
>>
>> The pipe that would make arm / leg segments for 6' robot is 4" PVC
>> Thin-Wall Pipe (Sewer / Drain Pipe). I have at least one spare 10 foot long
>> piece.
>>
>> ID = 4.0"
>> OD= 4.2"  (0.100" wall)
>>
>> The commonly available schedule-40 pipe is too thick and heavy.  (closer
>> to 0.25" wall thickness)
>>
>>
>> If the existing model was scaled you would only need 5 feet of pipe.
>>
>> (6) Upper / Lower Leg segments, upper arm at 8" long each
>> (2) Lower-Arm at 6" long each
>>
>> I will get together some drawings of the model I built.
>>
>> Ron
>>
>>
>> > What size pipe did you bring to the meeting on Saturday? I remember 2
>> sizes but thought that a specific >size would scale properly to a 6 foot
>> robot. Regards, Doug P. <http://list.dprg.org/mailman/listinfo/dprglist>
>>
>> _______________________________________________
>> DPRGlist mailing list
>> DPRGlist at dprg.org
>> http://list.dprg.org/mailman/listinfo/dprglist
>>
>>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://list.dprg.org/pipermail/dprglist/attachments/20140115/6d6c3fd4/attachment.html 

More information about the DPRG mailing list