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[DPRG] Big Robot Project

Subject: [DPRG] Big Robot Project
From: David P. Anderson davida at smu.edu
Date: Wed Jan 15 23:15:48 CST 2014

Hi Doug,

What is a "pose-able" robot?   What does pose-able mean?

best,
dpa


On 01/15/2014 04:09 PM, Doug Paradis wrote:
> 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 
> <mailto: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
>     <mailto: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.
>
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>
>
>
>
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