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[DPRG] Big Robot Project

Subject: [DPRG] Big Robot Project
From: blackstag blackstag at gmail.com
Date: Wed Jan 15 23:24:57 CST 2014

http://www.youtube.com/watch?v=GuJQSAiODqI


On Wed, Jan 15, 2014 at 11:15 PM, David P. Anderson <davida at smu.edu> wrote:

>  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> 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.
>>>
>>>  _______________________________________________
>>> DPRGlist mailing list
>>> DPRGlist at dprg.org
>>> http://list.dprg.org/mailman/listinfo/dprglist
>>>
>>>
>>
>
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