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[DPRG] Big Robot Project

Subject: [DPRG] Big Robot Project
From: steve at txtulip.com steve at txtulip.com
Date: Thu Jan 16 15:32:02 CST 2014

Sounds great!

    I wish I could contribute, but this is a really busy time for me.... are you sure you wouldn't settle for a Hacked Billy Bass with the DPRG logo painted on the tail?





-----Original Message-----
From: paradug <paradug at gmail.com>
To: dprglist <dprglist at dprg.org>
Sent: Wed, Jan 15, 2014 6:21 pm
Subject: Re: [DPRG] Big Robot Project

     I can try to give a little insight into the project and why the control system components (laptop, webcam, Arduino Mega) were chosen. The timeline for the project is very short (done by mid March) and members have very limited time to contribute. It is imperative that the project does not suffer project creep. On the other side, there is interest on “enhancing” the robot over time. To achieve these opposing goals, the approach is to keep the project as simple as possible without losing the “Wow” factor, yet choose a design with standard easy interface points. In Ron’s model these easy interfaces are at the joints. If later the club wants a 2 DOF shoulder, we can unplug the existing shoulder joint at the shoulder and the upper arm and reinstall a new joint design.  If currently we do not need to change the pose of a shoulder, we could remove the joint. It isn’t clear yet, on how hard it will be to 3-d print or alternately construct the current model joints, so the decision to use a non-poseable arm has not been made. I would personally prefer not to, but I can see the advantages. The decision to use a laptop as the primary computer is driven by the fact that members have already shown robust face recognition demonstrations using a laptop as part of other robots. The same setup could be ported to a Rpi or BBB, but the working system is already available on the laptop with the benefit of significantly better response and enhanced USB connectivity.  Also an added advantage is, it is trivial to say "Klaatu barada nikto" using the laptop.  Again the issue is simplicity vs. time. The Mega was chosen over other Arduino options to maximize the availability of I/O for future upgrades and yet minimize the hurdle of member contribution.  
A Rpi or BBB port might be driven when Jason wants his laptop back (grin – wink).
Regards and thanks for all your work on the Enco,
Doug P.


From: steve at txtulip.com 
Sent: Wednesday, January 15, 2014 4:56 PM
To: paradug at gmail.com ; dprglist at dprg.org 
Subject: Re: [DPRG] Big Robot Project


     I missed the meeting when this was proposed so I'm kind of missing some background, but I do have experience with demo stuff. Judging by the design... I personally think the hardest thing to do is to teach it to say "Klaatu barada nikto" I propose a shortcut... swipe Big Tex and motorize him.... Actually I'm intrigued  by the control system. It is not an integrated system but seems  a bit "bodged" together and I wonder if using non dedicated parts is really a good idea. In particular, using a laptop. I understand it is perfectly acceptable but an actual robot controller might be smarter... Just a thought.


-----Original Message-----
From: Doug Paradis <paradug at gmail.com>
To: dprg.org <dprglist at dprg.org>
Sent: Wed, Jan 15, 2014 4:13 pm
Subject: Re: [DPRG] Big Robot Project

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

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. 
     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.
    [  ]  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. 
    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:  
  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.
Doug P.

On Mon, Jan 13, 2014 at 11:21 AM, Ron Grant <deltagraph at aol.com>   wrote:



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.


> 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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