I’ve decided to build a 4 or 5 degree of freedom (DOF) robot arm with a bunch of stepper motors, servos, and acrylic sheet. This page is intended to bring together the disparate blog posts for those elements into a single place. I will update links as and when a new post is added. Consider it a jumping off point for all things related to this project.
Mechanical
Overall plan – to do
Initial steps and calculations – to do
Rotating base (1st DOF) – to do
1st joint (2nd DOF) – to do
2nd joint (3rd DOF) – to do
Wrist (4th DOF) – to do
Gripper – to do
Electrical
Overall plan – to do
Stepper controllers
-Unipolar: Video, Committing to PCB, hardware and software design
-Bipolar – Tested and working on Breadboard (see Sparkfun board for a good value alternative)
Servo controllers – linked from actions for 2009
Position sensing – to do
Software
Overall plan – to do
Stepper control – to do – API existing in the microcontrollers for this purpose
Serial control – as initial steps below
Servo control – can control fully as required through the 8-channel controller
Running the servo control software as a service (rather than discrete executions) – to do
Web to software interface
Overall plan – to do
Initial steps – as serial control above
Servo control
Web cam support – to do
12 August, 2009 at 7:14 pm |
I dig it. Keep up the good work!