Arduino Forum

Topics => Robotics => Topic started by: UFactory on Dec 04, 2013, 05:53 am

Title: uArm??An open source robot arm
Post by: UFactory on Dec 04, 2013, 05:53 am
(http://forums.hackaday.com/download/file.php?id=661&mode=view)
uArm? is a small Palletizing Robot refer to ABB PalletPack IRB 460. You can also use it as a robot arm and make a development of it to make more interesting applications.

In order to make it more flexible and easy driving, I have also designed two kinds of Chassis of the robot arm.
One is a simple 2WD car as you can see in the following picture.
(http://forums.hackaday.com/download/file.php?id=648&mode=view)

The other one is a 4WD car. I have added 4 Shock Absorbers on it as you can see in the following picture.
(http://forums.hackaday.com/download/file.php?id=649&mode=view)

So you can install the robot arm on the Chassis and use this platform to do further applications on the ground.
Next, a special gripper for this robot arm is in designing and will be updated soon.
Title: Re: uArm??An open source robot arm
Post by: PaulS on Dec 04, 2013, 12:51 pm
How do you get one of the arms?
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 04, 2013, 01:22 pm

How do you get one of the arms?


Hi PaulS,

I have made the design and used the laser cutter machine to build the arm by myself. And I am making improvement of it now.
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Dec 05, 2013, 05:36 am
This is a pretty neat little arm; I like the fact that you put most of the servos at the base of the arm, rather than at the joints like you see so often (now, if you could do the same with that last servo - heh)...

I would love to have a copy of the file(s) for laser cutting; I just recently joined my local TechShop (Chandler, Arizona) and finished the SBU for their Universal Laser Systems cutter. I've got lots of ideas for things to build with it, but one more project wouldn't hurt...

Actually - I realize you probably aren't going to give away the files; it sounds like you are starting a business, so I can respect that. One of my future projects for the laser cutter is to actually build a clone Armdroid (well, as close as I can come to one given the information available on it) - but that would be a very complex project, not something I intend to tackle today!

Great job on your robots, though! I think the arm looks best on the 4WD base (seems like it would be more stable with a load, too).

Hmm - how about building a translational (linear movement) base? Such a base movement system is often used in industry for assembly line work and other work where the arm needs to translate linearly along or with the work piece...
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 05, 2013, 06:16 am

This is a pretty neat little arm; I like the fact that you put most of the servos at the base of the arm, rather than at the joints like you see so often (now, if you could do the same with that last servo - heh)...

I would love to have a copy of the file(s) for laser cutting; I just recently joined my local TechShop (Chandler, Arizona) and finished the SBU for their Universal Laser Systems cutter. I've got lots of ideas for things to build with it, but one more project wouldn't hurt...

Actually - I realize you probably aren't going to give away the files; it sounds like you are starting a business, so I can respect that. One of my future projects for the laser cutter is to actually build a clone Armdroid (well, as close as I can come to one given the information available on it) - but that would be a very complex project, not something I intend to tackle today!

Great job on your robots, though! I think the arm looks best on the 4WD base (seems like it would be more stable with a load, too).

Hmm - how about building a translational (linear movement) base? Such a base movement system is often used in industry for assembly line work and other work where the arm needs to translate linearly along or with the work piece...


Hi cr0sh,

Thanks for your suggestions. We are now make an improvement of this robot arm and your suggestions are quite helpful for us.

As we call this open source robot arm. So of course we will make it open and release both the design of the mechanical and electronic with the final source files after we finish this project.

If you want to build one by yourself, we can send you the files after we finish the project. So that more and more people can join us to make a better robot arm and further applications for this.

Thanks for your suggestions again.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 05, 2013, 12:17 pm
We have made the second version of uArm?. In this version, you can change the head of the arm, so the fourth servo on the head of the arm can face down and forward by different install ways. A special robot gripper is in designing.  See more details below.
http://www.youtube.com/watch?v=Lw0SAU2apIQ
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 05, 2013, 02:01 pm
Here is the design which I refer to, the World's Fastest Palletising Robot - ABB IRB 460.

http://www.youtube.com/watch?v=6yUF8ZEFFfU
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 06, 2013, 07:05 am
The acrylic parts of new version of uArm? v1.1 is arriving now.

(http://forums.hackaday.com/download/file.php?id=655&mode=view)
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 06, 2013, 08:30 pm
From now on, there are two kinds of choices for the head of the robot arm.
One is a sucker and the other is a servo for installing robot gripper on it. You can see two of them in the following picture.
(http://forums.hackaday.com/download/file.php?id=657&mode=view)

On the other hand, there are also two ways to install the head to the robot arm. One is to face down and the other is to face forward. The following picture shows the parts for different install ways.
(http://forums.hackaday.com/download/file.php?id=658&mode=view)

Install the sucker to the head of the robot arm.
(http://forums.hackaday.com/download/file.php?id=659&mode=view)

(http://forums.hackaday.com/download/file.php?id=660&mode=view)

Install the servo motor to the head of the robot arm.
(http://forums.hackaday.com/download/file.php?id=661&mode=view)

(http://forums.hackaday.com/download/file.php?id=662&mode=view)

The second way for installing.
(http://forums.hackaday.com/download/file.php?id=663&mode=view)

(http://forums.hackaday.com/download/file.php?id=664&mode=view)
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 06, 2013, 08:41 pm
Quote
As we call this open source robot arm. So of course we will make it open and release both the design of the mechanical and electronic with the final source files after we finish this project.


Excellent... thank you.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Dec 06, 2013, 08:48 pm
Not sure where you are storing your pictures, but they are not downloading for me using IE,  I just get an X displayed. I like the design of keeping the servos off of the arm as much as possible.
Title: Re: uArm??An open source robot arm
Post by: albaflo on Dec 09, 2013, 01:32 pm
Very attractive work, sincerely.

The fact of keeping servomotors in the base allows to limit the efforts on each, it is very ingenious.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 09, 2013, 01:48 pm

Not sure where you are storing your pictures, but they are not downloading for me using IE,  I just get an X displayed. I like the design of keeping the servos off of the arm as much as possible.


We are so glad that you like our design, we are making a development of this robot arm and will make an update soon.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 09, 2013, 01:49 pm

Very attractive work, sincerely.

The fact of keeping servomotors in the base allows to limit the efforts on each, it is very ingenious.


:)  We are making an improvement now. Will make an update soon.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 19, 2013, 03:22 am
The second test of uArm?, in this version we add 4 suckers on the chassis of the arm to  mount it on smooth surface.

http://www.youtube.com/watch?v=ZB-Wc1FNvjw
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 21, 2013, 07:41 pm
After a few days of improvement work, we have made some new designs of the robot arm. Make some changes of the structure to make the arm stable. Add a small gripper and the new sucker holder. Then we decide to try some other materials to make the robot arm. So we got a laser cut Basswood one.

Here is the laser cut Basswood parts.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_9995-300x199.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_9999-300x199.jpg)

Do the assembling.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0013.jpg)

The finish Basswood uArm.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0017.jpg)

More details of this arm.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0025-300x199.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0027-300x199.jpg)

Here the small gripper and the new sucker holder.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0063.jpg)

Change the head of the arm and install the gripper on the arm.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0034-300x199.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0035-300x199.jpg)

(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0038-300x199.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0039-300x199.jpg)

(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0040.jpg)

What's more, we also made a transparent one by acrylic this time.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0059.jpg)

Here is the way that you can install the sucker with the new holder on the robot arm.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0060-300x199.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0061-300x199.jpg)

So far, we have 3 uArm?, the black acrylic one, the basswood one and the transparent acrylic one.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0055.jpg)

More testing videos and improvements will be updated soon. We are going to make this arm better, more stable and more accurate.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 22, 2013, 05:10 am
I need one....
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 24, 2013, 06:17 am
Seriously guys, this is awesome work.

I know you still want to test and improve, but I would really love to get my hands on one soon! When do you anticipate release?

Quote
As we call this open source robot arm. So of course we will make it open and release both the design of the mechanical and electronic with the final source files after we finish this project.

If you want to build one by yourself, we can send you the files after we finish the project.


Will a project like this ever be finished though?  8)

EDIT: I'd be happy to consider the version shown
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Dec 24, 2013, 06:16 pm
Would be nice to publish the arm frame plans in a pdf format which could be printed out on standard printer paper (larger parts might have to be split between two sheets of paper). I like the wood arm frame as wood can be easily worked with simple tools. 2'x2' sheets of 5.2mm lauan plywood are available at the US home improvement stores for ~$3.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 24, 2013, 06:31 pm
Yep zk- although I've made contact with a local laser cutting outfit, I've been wondering about doing it manually too. Looks like a shit-house full of parts to work by hand, though.

I'd like to see a pdf of just one part, to give it a whirl.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Dec 25, 2013, 01:57 am
PDF patterns would allow dimensionally accurate patterns to be printed, then traced onto what ever the construction material is. A long time back I started making an arm out of craft sticks which are light and fairly strong when doubled up and braced. The important part is getting accurate dimensions of the parts, the holes and the pivot points used in the arm. Below is an arm of somewhat similar design.

http://www.youtube.com/watch?v=PX0raMFnz8A
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 25, 2013, 05:06 am
Here (http://it-ebooks.info/book/1960/), the Karvinens use an alumin(i)um / polyethelene composite called Dibond (http://www.alucobond.com.au/products/dibond). I'm going to try get some offcuts somewhere...
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Dec 25, 2013, 06:41 am
I'm assuming / hoping the screws, nuts, spacers and so on are all standard (hopefully Metric  :P )sizes.

Title: Re: uArm??An open source robot arm
Post by: malopezn on Dec 25, 2013, 09:52 am
Hi!

That's and awesome work.

I have 3D printer, if you want i can try to print it with ABS. That would give an easy solution for making the arm.

Thanks and best regards
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 26, 2013, 02:21 pm

Would be nice to publish the arm frame plans in a pdf format which could be printed out on standard printer paper (larger parts might have to be split between two sheets of paper). I like the wood arm frame as wood can be easily worked with simple tools. 2'x2' sheets of 5.2mm lauan plywood are available at the US home improvement stores for ~$3.


Yes, our goal is to make a cheap and easy build robot arm. I have sent you a message about the pdf file.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 26, 2013, 02:27 pm

Hi!

That's and awesome work.

I have 3D printer, if you want i can try to print it with ABS. That would give an easy solution for making the arm.

Thanks and best regards


Hi malopezn,

The 3D print one may be a cool idea of building this robot arm. But it may take a lot of time by making the parts by the 3D printer. While using laser cutting, it may be faster and easier.

Thanks so much.

Best Regards,
Eric
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 26, 2013, 03:24 pm
The second version of the robot arm is quite stable now. Here is a stacking test by using the gripper. More applications and test videos will be updated soon.

(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0147-720x340.jpg)

See the video here:

http://www.youtube.com/watch?v=_VaSzJJt62U
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 26, 2013, 03:25 pm
A Vacuum Gripper Suction Cup is often used on industry robot arm in manufacture. And we also add a small one on uArm.

The Vacuum Gripper Suction Cup is controlled by a small Vacuum Pump and a Solenoid Valve.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/Vacuum-Pump.png)

We made the first load test of the robot arm by using the Vacuum Gripper Suction Cup. It can lift a 330ml Coca Cola and move it to another place. More applications and test videos with the Vacuum Gripper Suction Cup will be updated soon.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0126-720x340.jpg)

See the video here:

http://www.youtube.com/watch?v=x6pJqdSk29Y
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 27, 2013, 01:52 pm
After several tests of the arm with vacuum gripper suction cup, the robot arm can work very well.

Recently, we got an Iphone 5S, so we decide to make an unboxing test of Iphnoe 5S by uArm.
(http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0154-300x168.jpg) (http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0153-300x168.jpg)

Let's see how it works.
http://www.youtube.com/watch?v=fqZLsYoKU44

More interesting applications and test video of uArm will be updated soon.
Title: Re: uArm??An open source robot arm
Post by: vulture156 on Dec 27, 2013, 02:51 pm
Hi everybody!
First of all I want to congratulate you for this project, it´s a really cool arm, the movements are very smooth.
I´m doing something like that for my graduate project, is an aluminum arm and I'm trying to make the kinematic control. I have simulated the movement of all axes with 5 order  polynomics,  but I have not yet tested physically.
Can you share your code? it´s really interesting how the arm work.

Thanks!
Title: Re: uArm??An open source robot arm
Post by: UFactory on Dec 27, 2013, 03:03 pm
Hi vulture156,

Of course we can share the Arduino source code to you. You can send an email to us at: ufactory.info@gmail.com to ask for the code.

Best Regards,
Eric
Title: Re: uArm??An open source robot arm
Post by: UFactory on Jan 02, 2014, 01:19 pm
OSHW! CHEERS!

http://www.youtube.com/watch?v=-BfKwpFKA9o
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 02, 2014, 02:09 pm
Stunning work, guys.

I hope my local laser cutting guys that I approached get back to me soon... If not, I'll look further afield. Those guys are like 15 minutes drive away....
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Jan 03, 2014, 02:47 am
In the past if one of the below mini vacuums would be strong enough to be used with a suction cup on a small arm.

http://www.ebay.com/itm/New-Mini-USB-Vacuum-Keyboard-Cleaner-Dust-Collector-LAPTOP-Computer-/121240737862?pt=Computer_Cleaning_Equipment_Kits&hash=item1c3a82d846
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 03, 2014, 03:56 am

I hope my local laser cutting guys that I approached get back to me soon... If not, I'll look further afield.


Turns out Mrs Jimbo deals with one of these outfits- so that's an alternative.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Jan 03, 2014, 04:21 am


I hope my local laser cutting guys that I approached get back to me soon... If not, I'll look further afield.


Turns out Mrs Jimbo deals with one of these outfits- so that's an alternative.


Hope to see your update of your own arm.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Jan 03, 2014, 04:22 am

In the past if one of the below mini vacuums would be strong enough to be used with a suction cup on a small arm.

http://www.ebay.com/itm/New-Mini-USB-Vacuum-Keyboard-Cleaner-Dust-Collector-LAPTOP-Computer-/121240737862?pt=Computer_Cleaning_Equipment_Kits&hash=item1c3a82d846



Sound a good idea.
Title: Re: uArm??An open source robot arm
Post by: UFactory on Jan 07, 2014, 01:30 pm
We have got some new servos for uArm.

(http://blog.ufactory.cc/wp-content/uploads/2014/01/IMG_0384.jpg)
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 08, 2014, 05:13 am
Ordering my laser cut parts today.

Guys can you post a close-up of the brass stud and rivets that you mentioned in the parts list you sent me?

Also, the long spacers between the sides- see pic attached- are they on the parts list? I don't know what they are called. They look similar to the spacers I got with my Magician chassis.... are they commercial parts? EDIT... is that what you're calling Brass Studs, items 8-11 on the list?

I think you mentioned an assembly instructable somewhere.... is that up?
Title: Re: uArm??An open source robot arm
Post by: UFactory on Jan 09, 2014, 03:31 am

Ordering my laser cut parts today.

Guys can you post a close-up of the brass stud and rivets that you mentioned in the parts list you sent me?

Also, the long spacers between the sides- see pic attached- are they on the parts list? I don't know what they are called. They look similar to the spacers I got with my Magician chassis.... are they commercial parts? EDIT... is that what you're calling Brass Studs, items 8-11 on the list?

I think you mentioned an assembly instructable somewhere.... is that up?



Hi Jim,

Here is all the screws, nuts, bearings and brass stand-offs for assembling.
(http://blog.ufactory.cc/wp-content/uploads/2014/01/IMG_0367.jpg)

The long spacers you mentioned are the brass stand-offs, as we call Brass Studs. So sorry about my poor English. Is brass stand-offs right?
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 09, 2014, 07:18 am
Yes I believe those are called "stand-offs".

My laser cutting is ordered and paid for whoo hoo.
Title: Re: uArm??An open source robot arm
Post by: nasopwr on Jan 09, 2014, 09:22 am
Wonderful project!
Would you consider sharing the mechanical drawings fit (dxf) for laser cutting purpose?
Thank you!
Title: Re: uArm??An open source robot arm
Post by: Alex_Co on Jan 10, 2014, 12:31 pm


Not sure where you are storing your pictures, but they are not downloading for me using IE,  I just get an X displayed. I like the design of keeping the servos off of the arm as much as possible.


We are so glad that you like our design, we are making a development of this robot arm and will make an update soon.


Hi UFactory,

First of all I want to congratulate you for this amazing project.
A laser cutter machine? Is it an expensive instrument? Or it doesn't cost too much?
However I really like your robotic arm. And I'll be honest...It's perfect for my project: building the first fully operative B1 Battle Droid (from Star Wars). Your robotic arm is perfect and, with your permission, I would want to use it for the upper and lower limbs of my project.
Where could I download all the stuff required to create the arm? It would be a pleasure for me to test your robotic arm in an advanced version. :)

Best regards,
Alessandro
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 10, 2014, 12:38 pm
Quote
Where could I download all the stuff required to create the arm?


The uFactory guys have accommodated me royally... they sent cad drawings and a parts list. I found a local laser cutting guy who is making my parts in the next couple of days. My job's next in his shop. EDIT.... my cutting is done, I'll collect Monday  :D

You def don't want to buy a cutter, pretty sure that's beeeeeeeg dinari, but my guy's doing it for 600ZAR... right now that's about 60USD, 40GBP more or less.  He's doing it in black Plexiglass aka Perspex.

All the other parts are commercial: bearings with standard part numbers, standard M-series screws. 3x standard servos, 1x tiny one.
Title: Re: uArm??An open source robot arm
Post by: nasopwr on Jan 10, 2014, 02:44 pm
Quote
The uFactory guys have accommodated me royally... they sent cad drawings and a parts list...

Hi JimboZA,
can you share those cad drawings and part list?
Thank you in advance!
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 10, 2014, 02:55 pm

Quote
The uFactory guys have accommodated me royally... they sent cad drawings and a parts list...

Hi JimboZA,
can you share those cad drawings and part list?
Thank you in advance!


No, they're not mine to share. You'll need to speak to uF about that.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 11, 2014, 11:36 am
My parts are ready to collect...
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Jan 12, 2014, 04:29 am

My parts are ready to collect...


Did you get the gripper cut as well? The uArm team sent me the drawings as well, but I haven't yet cut them (other things on my plate right now); I was going to do it myself at my local TechShop (I have access to their laser cutter).

I have been helping with some writing and documentation; the directions they sent me aren't too bad, but I did end up re-ordering them in my write up for them to make assembly easier (at least, I think it will be - the original instructions jump from the base to other parts to parts of the arm, back to the base and shoulder, other parts of the arm, etc - when it is actually possible to assembled and concentrate on base components, then back arm, then fore-arm, etc).

Anyhow - good luck with your build; it's actually a very well engineered product, from what I could see. One thing that wasn't mentioned (unless I missed it somewhere?) was how thick of acrylic or other material you are supposed to use - what did you select?

Also - did you have the gripper cut? It was in red on the PDF (and maybe on the DWG file?) - so I am not sure how it would've been interpreted if you sent it off to be cut...

Can't wait to see your build, though! Are you going with standard analog servos, or are you going to upgrade to digital ones? I had planned to go digital, with strong ones for the base and shoulder (also, I was thinking maybe to cut a very thin piece of PTFE or nylon film for a base bearing), and a less strong one for the forearm; probably all with metal gears and ball-bearings...

...all in good time, though. :)
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 12, 2014, 04:44 am
Yep I had everything on the pic cut.

It says on there that that the bulk of the parts are 5mm (the main area on left of pic) and the others- the small area to the right- are 3mm.

I'm fetching it all tomorrow: the cutter guy is near my work.

I have yet to find the hex brass standoffs in all the sizes: my electronics supplier only has very short ones- I suppose for mounting boards in enclosures- and I'm not sure where to try next. But all in good time....

EDIT... re servos.... looks to me like the servos are readily accessible for replacement, at least going by the vids. So for the first build we'll probably just use the crappy 3x  hobby servos we have (4.3kg), then upgrade later. Unless it looks like a pita to replace them, in which case I might spring for 3 decent ones up front.

Our objective here is to give my daughter a decent test- and development-bed for her studies. With a decent arm, and the flexibility this one gives for end-effectors, she can concentrate on the control side without having to worry about a crappy arm made of ice-cream sticks and rubber bands falling apart.

MORE EDIT... This thread (http://forum.arduino.cc/index.php?topic=209041.msg1536075#msg1536075) relates

Title: Re: uArm??An open source robot arm
Post by: keeper63 on Jan 12, 2014, 07:49 pm

It says on there that that the bulk of the parts are 5mm (the main area on left of pic) and the others- the small area to the right- are 3mm.


Hmm - maybe I'll have to look at the files more closely! So far, I've only looked at the PDF as I don't have any software installed to view the DWG file (need to find something for Ubuntu at some point).


I'm fetching it all tomorrow: the cutter guy is near my work.


Well, that's convenient. We actually have the manufacturer (Universal Laser) of the laser cutter our TechShop uses near my work, but I don't know anybody there who'd take on the project if I wanted it done (which is too bad, because I've been told that if you work there, you can basically use any machine you want!).


I have yet to find the hex brass standoffs in all the sizes: my electronics supplier only has very short ones- I suppose for mounting boards in enclosures- and I'm not sure where to try next. But all in good time....


I've been looking at a variety of options here - I can't say for certain, but I would bet McMaster-Carr would have every fastener part needed. Between them and Grainger, among a few others...


EDIT... re servos.... looks to me like the servos are readily accessible for replacement, at least going by the vids. So for the first build we'll probably just use the crappy 3x  hobby servos we have (4.3kg), then upgrade later. Unless it looks like a pita to replace them, in which case I might spring for 3 decent ones up front.


Well - based on what I have seen for the assembly - you would have to disassemble and re-assemble the base components quite deeply to replace the servos, which wouldn't be easy until after a couple of times doing it (and even then, it might still be a pain to do).


Our objective here is to give my daughter a decent test- and development-bed for her studies. With a decent arm, and the flexibility this one gives for end-effectors, she can concentrate on the control side without having to worry about a crappy arm made of ice-cream sticks and rubber bands falling apart.


Then I would say going with the low-cost "crappy" servos you already have might be more than sufficient to use first time out; you might try to find their spec sheets, and compare them to the spec sheets of the servos that the uArm team use in their current prototypes (they are using some form of "Power HD" brand analog servos - maybe one of the images can give you more detail - or you could ask them).

If your servos seem close enough, it might work out ok (that said, don't try to pick up anything too heavy if they don't have somewhat higher quality gears and/or bearings - or things might break).

Good luck with the project!
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 12, 2014, 07:58 pm
Quote
I can't say for certain, but I would bet McMaster-Carr would have every fastener part needed. Between them and Grainger, among a few others..


I'm in South Africa where I don't know of those brands. I've tried a few places. My brother suggested one chain I hadn't thought of, I'll try them. If I can't find the right ones, I'll use a long screw with a tube-like spacer instead.

Re the servos, my HK hobby servos are 4.3kg cm ones with plastic innards. The 10kg cm steel ones would be nice, for sure.
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Jan 13, 2014, 01:55 am

Quote
I can't say for certain, but I would bet McMaster-Carr would have every fastener part needed. Between them and Grainger, among a few others..



McMaster-Carr and Grainger are to mechanical industrial needs as Digikey and Mouser (and/or RS) are to electronics; they are global suppliers.

That said, they don't tend to be inexpensive, depending on what you are buying (and unless you are buying in bulk - depending on the part). Also - you may have to purchase 100 pcs of say a particular size screw, when this project only needs a handful.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 13, 2014, 03:30 am
I've emailed the local Grainger guy... thanks.
Title: Re: uArm??An open source robot arm
Post by: Chagrin on Jan 13, 2014, 11:47 am
http://www.mcmaster.com/#standard-threaded-standoffs

I don't see any at Grainger.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 13, 2014, 12:21 pm
Fetched my laser cut parts today  8)

EDIT.... checked that the servos and bearings fit snugly in their holes, which they do, so the cutting is good. The two halves of the gripper tooth together nicely.

Now to gather all the orther little bits-and-pieces.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 13, 2014, 04:08 pm
I'm struggling to get the longer FF standoffs. But one guy quoted MF too, so that gets screwed into a shorter FF and end up with a FF of the right length.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 19, 2014, 12:08 pm
So most parts in hand: got all the bearings the other day, and fetching the standoffs tomorrow. Then just need all the screws and nuts, from a place just up the road..... so maybe next weekend we'll start assembly.

Current thinking, is to have the Arduino with Ethernet act as an HTCPCP server responding as contemplated in RFC2324 (http://tools.ietf.org/html/rfc2324) and have the arm do the work. (Error 418 notwithstanding).
Title: Re: uArm??An open source robot arm
Post by: PaulS on Jan 19, 2014, 07:29 pm
Quote
and nuts, from a place just up the road

You sure you want to go there?
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 23, 2014, 11:19 am
I'm nuts enough?

Construction not started yet, but meanwhile, the uArm is featured (http://www.timeslive.co.za/scitech/2014/01/23/uarm-is-an-arduino-powered-robot-arm-for-your-desk) in the South African national press...
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 24, 2014, 03:29 pm
Right, I think we have everything.... let construction commence...
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 26, 2014, 04:26 pm
Aaaaaaand started at last
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 26, 2014, 05:04 pm

Is it foggy there?


Nope, you're in the foggy bit.

But I just looked at the camera lens on my phone and it's filthy, sorry.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 26, 2014, 05:26 pm
New pic after cleaning camera lens...
Title: Re: uArm??An open source robot arm
Post by: Chagrin on Jan 27, 2014, 08:12 am
You blew an hour and all you managed to do is get your lens clean? C'mon man you're keeping us in suspense here  :D
Title: Re: uArm??An open source robot arm
Post by: PaulS on Jan 27, 2014, 01:07 pm
Quote
You blew an hour and all you managed to do is get your lens clean?

Got to make progress where you can.
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Jan 27, 2014, 03:24 pm
Sorry guys, I'll up the pace....

.. next weekend...
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Feb 02, 2014, 12:04 pm
Ok, a teeeny bit of progress. Watch (http://youtu.be/xgch775KQs0) the base here, just to-ing and fro-ing with servo sweep.

Forgive me for powering the servo from the Uno 5V.... I do know better, as most of youse know.
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Feb 03, 2014, 03:46 am

Ok, a teeeny bit of progress. Watch (http://youtu.be/xgch775KQs0) the base here, just to-ing and fro-ing with servo sweep.


Pretty smooth - great to see progress!

I have yet to do anything on mine, though I am pretty sure I have the acrylic to build it, after I checked my junk pile.


Forgive me for powering the servo from the Uno 5V.... I do know better, as most of youse know.


You will surely go to heck for that! :D
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Feb 03, 2014, 04:48 am
For now I'm just going to use the cheap hobby servos I have- plastic mechanicals and 4.3kg cm of torque iirc- and I suspect it won't be so smooth under load.  But I will probably replace them with something of better quality and higher torque- say 10-  for the long run.

If I hadn't already bought them I'd replace the brass standoffs with nylon or similar- they're very heavy. In fact for simplicity I'd go for plastic tubes to act as looooong washers and screws all the way through with nuts on the other end.

It took me a while to figure out how to capture the big bearing.... trial and error brought me to the conclusion that not all the pieces have the same inside diameter, and I'm assuming this was by design. So two pieces with the (very) slightly inside diameter go above the bearing, two other pieces snuggly slide over the outside of the bearing, and the other pieces go below, again slightly smaller i/d. That leaves the bearing kind of "sandwiched" in place. Not 100% convinced I have it right though, but as in the video, it does actually work.

I'd also investigate the supply of thicker smaller bearings. If they come as 4x8x5 rather than 4x8x3 for not much extra cost, I'd go for those since they will then be the exact thickness of the material they sit in. OTOH, if there's little load, I'd actually look for nylon bushing of 8mm o/d and 4mm i/d. 8mm nylon rod cut to 5mm slices and 4mm hole in the middle would do, if not available off the shelf.

All good fun though. Not in a race, so just enjoying the tinkering....

Title: Re: uArm??An open source robot arm
Post by: ODwyerPW on Feb 03, 2014, 09:28 pm
This would make a fine foundation for a small Boom Crane. Replace the Gripper/Suction axis with a Hook and Line. The Parallel Arms would perform the Boom/Jib functions. Replace the end with a TIp sleeve and run a line to the Base, where the Winch would be installed. Rotating Base is nice. It's far more flexible than required, but nevertheless a great starting point for a design. My intended purpose requires about 10meters of line that could lift 200grams partially extended.

You guys are modest and haven't plugged your kickstarter campaign in this thread (if you did, I missed it). But, honestly so many will be using your design and code, so it's a good idea to let other hobbyist know how they might support your efforts.  (If linking ot kickstarter campaigns is forbidden, my apologies).
https://www.kickstarter.com/projects/ufactory/uarm-put-a-miniature-industrial-robot-arm-on-your?ref=live .

Nice work gentlemen.
Title: Re: uArm??An open source robot arm
Post by: ODwyerPW on Feb 08, 2014, 05:08 am
Gentlemen,
I signed up to receive one of your full kits with the gripper and suction options via sponsorship of your KickStarter campaign.
Looking forward to seeing continued development.

Again, really nice work. 1st class presentation of your product/project. Would love to get our students at Espanglish Institute / Guaymas Workshop developing products of that caliber.  Wow!
Peter


Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 14, 2014, 05:20 am
Looks like another video on the arm.

https://www.youtube.com/watch?v=gKKWUZeyAac
Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 23, 2014, 03:04 pm
Im like very well the robot,but im look if is impossible have the draw,im look the picture and i have redraw all parts,remove the parts if im not like and add other modify for cut the parts with my laser cut...
where is possible download the arduino file for run this robot ??
thanks and best regards
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 23, 2014, 06:44 pm
Quote
where is possible download the arduino file for run this robot ??


It is claimed to be "open source" but I have not seen the arm structure plans actually published anywhere. The arm itself appears to be a Chinese design, so not sure where the plans would be found.
Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 23, 2014, 09:46 pm
im think same !!
im write more message with the ufficial mail,but all reply write at May on web site ,but im look only one web store...
this Uarm is open source or not ???
if is open source where are the draw and all other file for arduino ??
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Mar 24, 2014, 11:25 pm
Just an observation.
Once they set up kickstart, we haven't heard a peep from UFactory/UArm.

Haven't gotten any progress report from  JimboZA, either.

I'm real interested, but suddenly the buzz has gone silent.

Whats up?          John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 25, 2014, 03:23 am
Quote
Whats up?


Perhaps they are now going to sell the Chinese design.
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Mar 25, 2014, 04:07 am

The arm itself appears to be a Chinese design, so not sure where the plans would be found.


They sent the plans (well, DWG file for a laser cutter) to me and Jimbo; I don't know what else Jimbo received, but I also got a part list and assembly diagrams.

So - if this thing goes south on everybody, know that the plans do exist - I'm not releasing them, though, so don't bother to ask me - not yet, anyhow.

I wasn't able to participate in the KS campaign (I wanted to, but then I lost my job - thankfully I started new employment today); let's give them time and see what happens - I'll try to email the contact I have and see what if any response I get.

I'll update this thread depending on what I hear...
Title: Re: uArm??An open source robot arm
Post by: Chagrin on Mar 25, 2014, 04:37 am
The uFactory web site has an update from this month that shows they've been optimizing the design. Their schedule to start shipping is May 1st. I don't see any need to worry about them not meeting their stated goals; it takes time to develop and collect all of the documentation and they're not going to do that if the design is still in flux.

I'll agree it's certainly not "open source" by the Richard Stallman definition; if it was then all of their docs would already be online. They're obviously trying to make a commercial go of it and assumedly don't want anyone beating them to the punch. In Shenzhen the nearest opportunistic cloner is probably next door ;)

As an aside, this just popped up on Thingiverse: http://www.thingiverse.com/thing:280263

Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Mar 25, 2014, 04:55 am
UPDATE;  while I was composing my epistle, there were additional posts.  Makes some of what I said redundant.

So, the open source thing only covered the two of you guys?  

I thought the purpose of open source was to get many folks in the community to experiment with a design and, perhaps develop improvements, software enhancements, enlargements, miniaturization , etc.  I noticed that the design is a bit wobbly when a side load is applied.  I have structural and acrylic skills that could offer some mitigation of that problem.  I could easily fashion all the parts from sheet acrylic and a bandsaw.  The only critical parts of the build are the pivot point placement.  That would require match-drilling the 2 sides of each arm segment with brad-point drill bits.  But, alas, the open source plans are a secret.  Pity.

Did JimboZA ever get his project finished and working? Haven't heard from JimboZA  since Feb 2, 2014 about his build.  He went for some screws and never came back.

Did you, cr0sh, ever do anything with your drawings?  

This is turning out to be a very closely held open source project, to my way of thinking.

Just saying.

I considered springing for the $69 acrylic kit, but I've watched too many startups go belly-up  when the project leaders suddenly find themselves "cash-rich" and start buying new cars rather than putting it into materials to cover promised merchandise.  

I'm retired and on a limited budget.  If I get too wild with this new hobby, my wife ---- well just let me say that her favorite saying is "The quickest way to a man's heart is through his chest, with a sharp knife".

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 25, 2014, 05:43 am
A quick Google search that a "Palletizing Robot" has been around for some time. The below ebay offering is interesting.

http://www.ebay.com/itm/Axis-palletizing-robot-manipulator-model-with-no-arduino-servo-control-board-/271275924586?_trksid=p2054897.l4275

https://www.google.com/search?as_q=Palletizing+Robot+&as_epq=&as_oq=&as_eq=&as_nlo=&as_nhi=&lr=&cr=&as_qdr=all&as_sitesearch=&as_occt=any&safe=images&tbs=&as_filetype=&as_rights=
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Mar 25, 2014, 06:59 am


As an aside, this just popped up on Thingiverse: http://www.thingiverse.com/thing:280263


I looked this over and it's about the same thing, but uses Nema 17 steppers.

There is no PDF, but he does supply DFX files.  Sketchup will import them, and export PDF files. 

Problem is, I can't figure out how to display them in 2D with blueprint-like dimensions.  Does anyone know how?

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 25, 2014, 06:53 pm
is open source ?? ok,write the link to the arduino file and draw of parts!!
all we know the world of 3d printer,that is open source and inside that we look all file and all draw,here no...for me the uarm isn't a open source project !!
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 26, 2014, 01:59 am
The ebay arm and the below arm definitely look to be the same type arms (identical cut out patterns). If the ebay arm comes with servos ready to run, the price seems reasonable. 


www.youtube.com/watch?v=PX0raMFnz8A
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Mar 26, 2014, 05:07 am

Did you, cr0sh, ever do anything with your drawings?  


No - unfortunately I haven't.

While I have access to a laser cutter (via my local TechShop) - and I believe I have the proper acrylic for the parts, I was still looking to source the rest of the components (bearings, screws, etc). I was also somewhat hampered by some surgery I had earlier this year (thus, paying that ridiculous expense off first). Then, on Feb 6th, I was laid off my job.

I only recently got new employment (started yesterday) - but those expenses are still there, plus the expenses incurred during my "vacation" (read: repaying my savings). So for now, the uArm appears to be on hold for me for the time being...
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Mar 26, 2014, 05:16 am

A quick Google search that a "Palletizing Robot" has been around for some time. The below ebay offering is interesting.


Well - uArm/uFactory never said their design was "new"; they said they based it off an existing full-sized robot arm.

However, with that posting of the ebay arm, and the video - now you have me wondering which is what?

Did someone copy uArm (easy enough to do, I would imagine)? Did uArm's plans get "stolen" or somehow lended out (I know I didn't post them anywhere, and I trust that Jimbo didn't, either)? Or did uArm get the plans from somewhere else, pass them off (or a refactored version) of them as their own (as first mover?) then create the kickstarter? Hopefully that's not the case...

Then again, that video dates long before uArm first posted. No clue on when the ebay arm was first offered...

I have yet to hear anything from uArm in a long while...

Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 26, 2014, 02:07 pm
Hi,for make my arm robot i have look the uarm and redraw the parts,i use only cad,no other program,im work on mecanicall factory for more year,that is my work  ;) .
im ipotize the measurements for an rapport of servo dimension,non more other particoular system..im not use bearing and not other system,my robot not have to work in a factory :-)    is only a desktop toy,im use a symply screw,that system not have a particoular and big number of parts,i use a wood as spacer,im use only a wood for all my robot,the other parts if aren't wood,are a screws,one big bearing of rotation and servos.
i have laser cut at home and if im look a problem of measurements of center of rotation,for me is symply recut only the parts modify....now im search a file to insert on arduino....the center of rotation of my robot are:
first arm 110mm  second 135mm.
is possible for you help me for run this little toy ??
thanks at lot
Title: Re: uArm??An open source robot arm
Post by: JimboZA on Mar 26, 2014, 02:23 pm

(I know I didn't post them anywhere, and I trust that Jimbo didn't, either)


I said in an earlier post (Reply #45) that they weren't mine to distribute, when someone asked me to forward them, so No.


Haven't gotten any progress report from  JimboZA, either.


Progress report: I have stopped all Arduino / robotics activity.

Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 29, 2014, 11:46 pm



As an aside, this just popped up on Thingiverse: http://www.thingiverse.com/thing:280263


I looked this over and it's about the same thing, but uses Nema 17 steppers.

There is no PDF, but he does supply DFX files.  Sketchup will import them, and export PDF files. 

Problem is, I can't figure out how to display them in 2D with blueprint-like dimensions.  Does anyone know how?

John


Good question. Not sure why DFX files are supposed to be so portable when it seems difficult to find applications that can open them. The below arm probably could be modified to use servos.

www.youtube.com/watch?v=y1-ZIk8nOSQ
Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 30, 2014, 12:55 am
Hi,im very happy but my first project with arduino run....
im use a 5 pot 10k for move 5 servo....
now i have more problem of disturb,but im thin is for the wire of any servo is twited,but is not important ....
im courious to know what your think of this project....
all parts are cut with my diy laser cut and mark with my diy laser marking with galvo head...
best regards

p.s. how is possible use the cinematic formulas and where is the correct system for insert on arduino ??

Title: Re: uArm??An open source robot arm
Post by: zoomkat on Mar 30, 2014, 01:23 am
Quote
p.s. how is possible use the cinematic formulas and where is the correct system for insert on arduino ?


If you are referring to inverse kinematics, there should be a lot of info available concerning robotic arms. Nice looking arm.

https://www.google.com/search?q=inverse+kinematics&num=100&lr=&sa=X&as_qdr=all&tbm=isch&tbo=u&source=univ&ei=02Q3U576FM6gsASKkIHQBQ&ved=0CDsQsAQ&biw=1104&bih=628
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Mar 30, 2014, 01:37 am
Beautiful job, teocreo.

I look forward to seeing a video of it in action.  Some close up photos showing the structure assembly would be good too.

This guy has a similar robot.  
http://www.marginallyclever.com/blog/2014/03/building-an-open-source-3dof-palletizing-robot/

His code is open source.   https://github.com/MarginallyClever/Arm3

I don't know if this will help.  I am very new at this also.

John

Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 30, 2014, 11:43 am
right,im not want a formulas of ABB..im know if are a cinematics formulas to apply for convert all rotational moviments in a cartesian formulas,im search that formulas...
thanks a lot
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Mar 30, 2014, 04:04 pm
Try this.  I searched with google = "kinematics formulas arduino robot"

Note the English spelling is "kinematics".  I couldn't find any in Italian.  I wouldn't be able to read it anyhow.  

https://www.circuitsathome.com/mcu/robotic-arm-inverse-kinematics-on-arduino

http://www.youtube.com/watch?v=iNG8Xeh7W_Q

http://onecuriousrobot.blogspot.com/

The following are for Delta Robots.  Very different from your arm, but maybe useful.
http://robottini.altervista.org/delta-robot-with-arduino
http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/
Title: Re: uArm??An open source robot arm
Post by: teocreo on Mar 30, 2014, 10:07 pm
hi,this is the first video of my arm robot...sorry for bad audio....

http://youtu.be/A0uIrbmU578

best regards ...
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 01, 2014, 12:07 am
Excellent!  And you built in a very few days!

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 02, 2014, 08:47 pm
thanks !!
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 04, 2014, 09:21 am
Another link.

http://51diycnc.taobao.com/
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 04, 2014, 06:02 pm
    ?????
    ????
    ????0
    ????
    ????
    |
    ????
    ????
    ?????

That was instructive.

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 04, 2014, 08:36 pm

    ?????
    ????
    ????0
    ????
    ????
    |
    ????
    ????
    ?????

That was instructive.

John


Translation:

Taobao Home
My treasure
? shopping cart 0
? Favorites
The classification of goods
|
Seller Center
Contact customer service
? site navigation

If you have a windows machine, high light the Chinese writing, right click the highlighted writing, then click "translate with Bing".

Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 04, 2014, 09:04 pm
Humph.  Live and learn.

I thought it was just pretty graphic design.

Thanks, John
Title: Re: uArm??An open source robot arm
Post by: michinyon on Apr 07, 2014, 04:08 pm
That robot seems to have 5 dof + 1 dof pincher.
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 08, 2014, 10:17 pm
hi my friend,im insert here ny draw,this is a present for we !!
if is possible for you help me to move this arm robot,im very happy.
my dream is move this robot same a cnc, x y z ,the top is move without the pc,im insert a sd card and press start,the robot read the Gcode on sd and make all moviment...if i have the necessity of stop the moviment,the robot go to the definite coord.
when in press start,first go to on one relè,and after it move to the coord.when it arrived at last coord,return to "base" coord and off the relè....it wait for next "start" push.

very thanks for your interest to me,more mail we send me fot the draw,im think insert here directly,for we and for other user.
best regards and good job !!
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 09, 2014, 05:41 am
teocreo, I tried to convert your file to a pdf using an online converter, but the parts were very small in the pdf.  I was able to use the online converter to convert the DXF files in the below project (one pdf attached). Not sure if the pdf is to actual scale for the arm.


http://www.thingiverse.com/thing:280263
Title: Re: uArm??An open source robot arm
Post by: jurhas on Apr 09, 2014, 12:49 pm
wow.... you did parallel???? notable... very,very,very nice...
for the young guy that ask for formulas...I did a small tutorial, robot for dummies on codeproject (I mean, I think they do not need any advertise) :
http://www.codeproject.com/Articles/756070/Simulator-Axis-Articulated-Robots
Do not scare, also if C++ is  very dumb.  And the procedures could be exported very well also in Arduino. May be the struct, or you put typedef, or you introduce struct blabla.
Now I am study to improve the graphic... with openGL.... but is sick!
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 09, 2014, 05:32 pm
hi,here i have insert a nesting of all lile,and a new file  .dxf   
the file pdf im not know how is possible use it,im use only dxf or dwg ,all my work start from autocad.

write if you not look or if you have other dimension of table to cut ..the nesting is for laser cut machine.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 10, 2014, 02:00 am

hi,here i have insert a nesting of all lile,and a new file  .dxf   
the file pdf im not know how is possible use it,im use only dxf or dwg ,all my work start from autocad.

write if you not look or if you have other dimension of table to cut ..the nesting is for laser cut machine.


What i'm talking about is flat robot arm parts can be scanned to PDF documents and retain the proper size/scale when printed. This would a pattern for the parts and make them easier to make by hand. As a test I made the attached PDF file to day to show how the actual part size can saved as a pattern. Print the attached PDF file "actual size" and then measure the printed ruler to see how close it is to real size.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 10, 2014, 04:39 am
OK.  I copied teocreo's files to an SD card and will take it to the local high school when the teacher calls and says he can meet with me.  I will have him enlarge the DWG to a larger size 130mm to become 260 mm so that my servos will work with it.  It may take some fiddling to get it working.  As soon as I have something to report, I will post it.

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 10, 2014, 09:51 pm
zoomkat...im not undestand you...you want from me the pdf file or you want converte the file to pdf for the all user of forum ??

in this week end im insert a picture of particoular of mounting a servo to first arm,but in not use same system of Uarm robot.
im not like uarm robot but is very large,im reduce the measurements of 2 cm or more(these measurements(2cm) are from look my measurements )
im couriouse to lokk your arm robor make from my draw....
sure we help me to make a file correct to arduino....
best regards teocreo
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 11, 2014, 07:47 am
.dxf and .dwg files require special CAD software ($$$) to be useful in making robot parts patterns. Actual robot parts patterns can be made by scanning the actual robot parts and saving as .pdf files. When printed "actual size" the printed part will be the same size as the scanned part and can be used as a pattern for new parts. Those people that have the laser cut robot parts can scan the parts into .pdf files and have full sized parts patterns without special CAD software ($$$).
Title: Re: uArm??An open source robot arm
Post by: E40racer on Apr 11, 2014, 08:30 am
You can use Draftsight to edit dwg/dxf files, it's free. So no $$$ needed :)
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 12, 2014, 10:31 pm

You can use Draftsight to edit dwg/dxf files, it's free. So no $$$ needed :)


I downloaded DraftSight and went through the tutorials.  WOW!
It does everything I want to do and bunches more without unneeded complexity.  And it works relatively intuitively for a PC user.  Most things work the way you think it might.  I worked for 1 1/2 days trying to learn AutoCad.  What a pain it is to do anything simple.  It can build a battleship, but trying to do something simple can take forever.

With DraftSight, I took teocreo's DWG file and rearranged it, converted it to inches, stretched it 2x.
I mirrored some of the parts to better fit the 18x24 burn bed on the laser cutter that has been made available to me.
I split it into 2 pages of parts.
I modified the thickness of the attach holes to match the plywood that I have available to me.
I am still learning, but, I repeat ------------ WOW!  Cool tool.

Thanks for the pointer, Bajdi .

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 12, 2014, 11:11 pm
I too downloaded the DraftSight program, and it looks to be very complete. I'm CAD clueless, so I'm still stuck. I opened teocreo's file and the part outlines look sharp. My first stumbling point is I see no actual scale to reference as to the size of the parts teocreo used to make his arm. The size of the square holes for the servos seem to be the only part of the drawing that could be matched to a real world dimension to determine the scale/size of the remaining parts. Seems to be a ways to go to be able to print out full sized parts patterns.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 12, 2014, 11:28 pm
ZoomCat,
From the "Help" menu:

Code: [Select]
GetDistance:
Use the GetDistance command to measure distances or angles between two points. You can use the command as a transparent command. The points can be arbitrary and not part of a drawing.

To measure distances between points:

Click Tools > Inquiry > Get Distance (or type GetDistance).
In the graphics area, select two points between which to measure.

The resulting measurements display:

Distance = <n>, Angle in XY Plane = <n>, Angle from XY Plane = <n>
Delta X = <n>, Delta Y = <n>, Delta Z = <n>

Distance: Measures the absolute distance between points.

Angle in XY Plane: Measures the angle to the second point starting from the X-axis. The measurement displays the lesser-valued angle no matter what the rotation direction.

Angle from XY Plane: Measures the angle between the first and second point from the XY-plane to the Z-axis. The first point is assumed to lie on the XY-plane.

Delta X, Delta Y, and Delta Z: Measures the distance between the two points in the direction of the respective axis of the coordinate system. Length values are specified in drawing units.


I created a new toolbar with it in it, along with several other functions that I found myself using repeatedly.
Like any other new program, it takes a while to figure it out.
http://www.youtube.com/playlist?list=PL49B45714A48FE08F
Go through this playlist and you will know a lot of the basics.
There are other playlists.  Most are good.  Some are REALLY bad.  Lyons Share Webinars are horrid.

John
Title: Re: uArm??An open source robot arm
Post by: keeper63 on Apr 13, 2014, 01:20 am

I worked for 1 1/2 days trying to learn AutoCad.  What a pain it is to do anything simple.  It can build a battleship, but trying to do something simple can take forever.


AutoCAD is anything but simple.

Only spending 1.5 days trying to learn something then thinking it is too difficult, though, indicates to me that you didn't give it a fair shot.

This is a piece of software that people spend years learning, and likely even after that find new methods and techniques using it on a regular basis.

I'm not a CAD expert; in fact, I've barely even touched CAD software (a bit of FreeCAD and some other packages here and there). I am not naive or arrogant enough, though, to think that I would be able to learn any CAD package in less than two days.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 13, 2014, 06:04 am

I am not naive or arrogant enough, though, to think that I would be able to learn any CAD package in less than two days.


The first words that came to mind when I read this, my wife would not let me say, much less type, so I will resist my natural tendencies.

After a day and a half, I have learned to do quite a bit of things that are useful (to me) with DraftSight.  I cannot say the same for AutoCad's pitiful product.  I am not looking to build a battleship with BOM and the like.  I just want to modify someone else's drawing to suit my purposes.  I have no desire to spend the time to become an expert at any CAD program.  I just want to learn enough to suit my needs.

Apparently, you don't either.  I recommend that you give DraftSight a try.

Love and kisses,

John
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 13, 2014, 06:19 am

I too downloaded the DraftSight program, and it looks to be very complete. I'm CAD clueless, so I'm still stuck. I opened teocreo's file and the part outlines look sharp. My first stumbling point is I see no actual scale to reference as to the size of the parts teocreo used to make his arm. The size of the square holes for the servos seem to be the only part of the drawing that could be matched to a real world dimension to determine the scale/size of the remaining parts. Seems to be a ways to go to be able to print out full sized parts patterns.


The esc key and the undo button are your friends.  

If you select something (click bottom right then click top left), the properties toolbar on the left will tell you the dimensions of whatever is selected.

The dimensions are (as in AutoCad) in "units".  Units can be mm, inches, meters, feet, miles, cubits, or aardvark tails.

There is a "scale" function (look it up in help menu).  If you select all and scale it, you can change it from mm to inches.  The conversion factor is 0.0393700787401575.  The drawing will become a tiny pink blob.  Zoom in on it and you will find that 110 (mm) units have become 4.33 (inches) units.

Pay attention to the "Command window" at the bottom and it will guide you through some of the weird command steps.

Like everything new, it's a pain to learn (remember your wife?).  But, once you start getting the hang of it, it's pretty cool and relatively easy to do good stuff.  Some of it takes a lot of experimentation, head-scratching, and "undo's".

Have fun,

John
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 13, 2014, 06:52 am
Now, back to business.

I have modified teocreo's drawings.  The DXF file was missing some parts.  I think he used 2 or 2.5mm plywood, I'm not sure.  I cut out the parts using 3mm plywood.  There are serious fit problems.

I decided to stretch his plans by double and use 3/16" plywood (0.199", to be exact).  He used tiny servos, I am using MG996R for the main servos and SG90 9 gram micro servos at the business end of the arm.

So, using DraftSight, I took teo's plans and scaled them by a factor of 2.  Then I converted them to inches.  Then I moved the components to fit within the cutting bed area of 24x18" to comply with the laser cutter I have available to me at the local high school.  I had to break it into 2 drawings to make it fit.  I now have TeoDraftSightStretch1.dwg and TeoDraftSightStretch2.dwg and they are both lovely, indeed.

Scaling made the holes for the servos very large, so I had to resize them.  Then I had to resize and align the mounting holes and the alignment notches for my servos.  Then I had to find the center of the control arm of the servo and align it with the center of the radius of the base mount.

Next, I have to do the same for the base turnstile and for the gripper end servos.

Then I have to adjust the center arm brace webs for the two arm sections to account for the difference in thickness of plywood from what teocreo used and from the stretching.

There may be more, but I can't think of anything just now.

I installed DraftSight on my computer at 2:47 PM 4/11/2014.  I spent the next 12 hours watching youtube tutorials and experimenting..
I first loaded and saved teo's drawing at 1:07 PM 4/12/2014.
It is now 1:09 AM 4/13/2014.
I took time out to eat, sleep, feed the chickens, and a couple of other non-essentials.
Learning the "align" command was a damned pain in the very lower back.

Also, in a fit of insanity, I deleted the "Properties" toolbar from the work area.  Once I got it back and took the time to inspect it's contents, I experienced a huge "Dooohhhh" moment.  Then I proceeded to do a bunch of previously very difficult stuff very easily.

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 13, 2014, 08:12 am
I've done a little tinkering with the below attached elbow.dxf file using DraftSight. Using the  "get distance" feature I found that the distance  between the furthest separated holes is 9.07 (inches?). The total distance of the most separated ends is ~10. Also I found the file > export > pdf function. Attempting to export the elbow. dxf file to a pdf file I found that if the object in the dfx file is to large to fit the selected paper size, the object will be resized to fit the paper (unsat for making full sized patterns). I figured I could rotate the object in the dxf file 90 deg like in graphic programs so the part would fit an 8.5"x 11" piece of paper. Well, apparently there isn't a simple 90 deg Rotation of the object, so stumped again. Also needed is a method of dividing objects too large to fit an 8.5"x 11" inch piece of paper into smaller parts the can be printed, then rejoined to make a full sized pattern of the object.f   
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 13, 2014, 04:26 pm
I printed the part you had.  I rotated it using the "rotate" command.  You can rotate it freehand or type in the degrees in the command line.

When printing, I used :
Manual setup
Paper size = letter
Fit to paper size = No check mark
Scale = 1:1
"All geometry" button = selected
Landscape

It worked.  Printed actual size.

I tried exporting to PDF.

I couldn't get PDF to print the thing in landscape.  No matter what I did, it resized and printed it in portrait.
I don't know enough about PDF to fix it right now and I'm about late for church. 
More in a couple of hours.

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 14, 2014, 07:06 pm
hi at all...my draw are all in mm ,im use a 3mm of playwood,on my draw you look 2.8 but 2.8+0.2 of laser beam=3mm of material
im use 3 sanwa sh120 for the moviment and a sg90 for the gripper
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 15, 2014, 06:42 am
Just a quick update. Below attached is the original elbow.DXF file and the elbow scanned.pdf file I made by scanning a copy of elbow.DXF printed from DraftSight. The robot arm elbow is identical in size on both printouts, so the .pdf version could be used as a full sized pattern for the elbow part. Next is to find out how the separate the large arm parts, like the attached bicep_gear.dfx, into two smaller pieces that would fit on a 8.5"x11"  piece of paper (then they could be printed and scanned to .pdf). Also, how can teocero's individual arm parts be individually saved/printed out full size using DraftSight?
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 15, 2014, 06:31 pm
hi,im not know that software,if you want a help to redraw the parts,no problem,im here to help we...

what size you have of paper ??
all parts of my arm are iside in A4 with very big space
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 16, 2014, 01:15 am
Zoomcat et. al.,

Here are teocreo's drawings rearanged to fit 8.5x11" paper.  There are 3 pages.

I couldn't figure out how to get them to print exact size.  130mm prints at about 140mm.

I put a dimension scale on each so that you can fiddle with PDF to perhaps print with a shrink percentage???????

Better than nothing, but not by a hellava lot.

You can't use the DXF file he provided.  It doesn't have all the parts.

I am also attaching the 3 DWG files.  They were made by rearranging the components in teo's DWG file and then splitting it up into 3 separate files.

John
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 16, 2014, 01:24 am
Ran out of attachment space.  Here are the rest.  Make sure you have all your party supplies on hand.  Don't get caught in the last-minute rush.

John
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 16, 2014, 06:06 am
15 days until "Open Source Day" celebrations and festivities will begin.  Be sure to get your party supplies.  Don't get caught in the last-minute rush.

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 16, 2014, 07:01 am
Well, I was able to print OldSalt1945's .dwg files from DraftSight by selecting "A4" size as the .dwg file is a little too large for "letter" selection (but the drawings still fit on 8.5"x11"). Those printouts seem to be to scale. Then I scanned those printouts to .pdf, then printing those .pdf files "actual size" produces scale drawings on letter 8.5"x11" paper. Attached is the scanned .pdf file. Clunky, but apparently gets the job done. Still need to figure out how to bisect large drawings in DraftSight into smaller parts that will fit on letter sized paper. 
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 16, 2014, 08:38 am
Well, here ya go.

I scaled teo's drawing to double size.  Had to split it into 2 drawings.  They are attached.  I didn't try to fit them to 8.5x11 paper.  They are arranged for the 18x24 laser cutter that the local high school has.

They will be cut from 3/16" construction plywood from the local hardware store.

Once everything is worked out, I'll go to the hobby shop and get some 5 or 7 ply aircraft grade birch plywood and make a final version.

I think I can rework a drawing I found of a gripper and turn it into a CAD drawing.  Gonna at least try.

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 16, 2014, 07:00 pm
hi,im not undestand we....the problem is the dimension or is the material??
im think if is only a problem of print that draw,im think is very easy,you download the dwg viewer ,is free and is possible print a autocad file....
if we have a problem with size,with the first paper print, measure ,use scale and reprint it....
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 17, 2014, 01:59 am
Teo, what you are seeing is amateurs stumbling around with very limited knowledge trying to determine how to print your drawings into actual size.  We know it can be done.  We just don't know exactly how it can be done.

You gave excellent advice.

Zoomcat.  What Teo was saying is, determine the ratio between the drawing file dimensions and the actual printed dimensions.

Example:  A certain dimension on the drawing file says it is supposed to be 135mm.  You print it and then measure it and find it is 123mm.  That means it needs to be increased by 135/123 = 1.09756.  Scale the drawing file by 1.09756 and it becomes 135*1.09756 = 148.1707mm which will print as 135mm.

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 17, 2014, 02:14 am
Print out "actual size" the Teocreo's_Arm.pdf file I made and posted. The dimensions of the printed parts should be the same size as the  dimensions you printed on them. 
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 17, 2014, 08:18 am
hi,if you want test your system,im think if the very good step is print a symply draw....
im attach a draw of a square 100x100 with inside 2 circle,first 100 of dia  and second 50
print that and with this test you know how is the error of your pc form print
Title: Re: uArm??An open source robot arm
Post by: azrael2 on Apr 18, 2014, 10:17 pm
im to interested about this mechanism
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 19, 2014, 05:35 am
For the base of Teo's arm.  After much head-scratching, I think I have figured out what and how he is doing it.

There are 6 base parts and 5 smaller circles.  Here's how I think he assembled this.

Stack 3 base parts with 33 mm openings.
Stack 2 base parts with 37 mm openings.
Place a 25mm x 37mm x 7mm ball bearing in the opening.
    http://www.ebay.com/itm/271015137158
Stack 1 base part with 33 mm opening.
  This traps the outer race of the bearing

For the pivoting part:
Put the 25 mm circle inside the bearing.
Put a 29 mm circle on the bottom and
      a 29 mm circle on the top.
Screw the sandwich together, trapping the inner race between the 29 mm circles.
The 25 mm circle keeps everything centered.

Edit:  All the following is wrong.  Somehow the servo horn has to be attached to the base.  What I described below will merely spin the plug without moving the arm base at all.  Sorry for spouting lunacy.
Use whatever spacers are necessary to attach the servo horn to the center plug assembly.
I don't see any way that the screw that attaches the servo horn to the servo can be attached, so the horn will need to be attached to the center plug and then the servo pushed down onto the horn spline.
Use shims and the like to mount the servo so it cannot slip loose from the horn.
This arrangement demands that the horn be centered very, very accurately on the center plug assembly.


Since I am using a lazy susan bearing until my official bearings get here from Hong Kong, I will have to invent my own attachment arrangement that allows for slightly sloppy bearings.  Probably a pin and radial slot arrangement.

I got all my parts lazer cut and prefitted and now they are in the clamps until the glue sets.  I will assemble the arm tomorrow.
Then I have to invent a base that will work with my crummy bearing.

Then, next week, I will start trying to get a control program to make it actually do something.

Luck,

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 19, 2014, 06:29 am
For a quick temporary base the below lazy Susan could be used with a servo underneath to rotate the arm. Bottom is a good video on laser cutting gears. The other larger wooden arm previously posted uses wooden gearing in the arm.

http://www.homedepot.com/p/Everbilt-6-in-Lazy-Susan-Turntable-49548/203661089

https://www.youtube.com/watch?v=Yz10C0U6tM0
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 19, 2014, 02:34 pm
hi,the sequence of parts are ok,im use that bearing but i have that at home..
for connect the servo is very simple,make at ceter the rotation base,make at center the servo,insert the servo in the wood and apply the 4 screws....
for trasmitt the moviment from servo to robot,use the attachments servo round,with 6 hole,fix it at last round of wood(the item if fix the internal of bearing,and use 2 little screws to fix the plastic to wood.

all internal parts of wood(the round parts) are fix on the base with a glue and 3 screw from back,and,when we have insert a bearing,apply he last round parts and insert a very good screw on the centrer,but first make a "V" hole for head of screw but after up at this item you apply the plastic servo attachments..

very sorry for my bad english....

the external of bearing is fix in same system,first the hole little ,3 item with hole same measure of bearing and after the item with hole small,but this you insert on base first the bearing,after fix the bearing and after fix the rotational base of arm.

thanks a lot for interest of my project,if you have any question write me.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 21, 2014, 09:32 pm
I had to give up on my lazy susan bearing and order a proper bearing.  It will be here Thursday.  I just couldn't figure out how to make it work reliably with all the slop in the fit.  Since my arm is 2x teocreo's arm, I had to get a bigger bearing.

http://www.ebay.com/itm/NEW-Ball-Bearing-6908RS-6908-RS-/281046194616?pt=BI_Heavy_Equipment_Parts&hash=item416fa899b8

I am hearing that there is some potential that the UArm project may become a scam.  I don't think that I will be placing an order until I see reliable shipping taking place.

After some re-reflection, I have determined that the base pivot mechanism works as follows:
Round discs 29mm are stacked to form a post.
The small 25mm disc is used to center the bearing on the post.
The last 29mm disc is placed on top of the bearing
   and the whole stack is screwed together with a 3mm flat-head machine bolt.
This captures the inner bearing race at the center and it centers the bearing on the post.

The rings with the 37mm openings are stacked.
The rings with the 33mm openings are added to the stack.
The bearing/post assembly is fitted into the 33mm opening.
One or more 37mm rings are placed over the bearing to capture the outer bearing race.

This has to arranged such that the servo horn just touches the top of the post when everything is assembled.

Then, attach the servo horn to the top of the post and screw the assembly to the robot arm base.

Then attach the post to the platform.  The shaft screw that holds the servo horn to the servo cannot be used, because you can't get to it.  Since it is between the servo and the post with little or no clearance, it won't work off, so it is not needed.

Done.

John
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 23, 2014, 02:00 am
Somebody posted the below link on the kickstarter site. Good price with free shipping, but rather use paypal instead of credit card.

http://www.aliexpress.com/store/product/MG995-robotic-mechanic-arm-4-axis-stacker-servos-arduino-Control-Palletizing-Model-four-axis-w/213876_1639729152.html
Title: Re: uArm??An open source robot arm
Post by: Alex_Co on Apr 23, 2014, 12:49 pm

(http://forums.hackaday.com/download/file.php?id=661&mode=view)
uArm? is a small Palletizing Robot refer to ABB PalletPack IRB 460. You can also use it as a robot arm and make a development of it to make more interesting applications.

In order to make it more flexible and easy driving, I have also designed two kinds of Chassis of the robot arm.
One is a simple 2WD car as you can see in the following picture.
(http://forums.hackaday.com/download/file.php?id=648&mode=view)



Your arm is cool! It's very well done and now I was wondering if it could be used as a robotic "leg".
I mean, could someone program it so that it works like a leg?

I ask you this because I would want to use it to create a robotic leg (and a robotic arm like your) for a small project that I have in my mind.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 23, 2014, 08:15 pm


Your arm is cool! It's very well done and now I was wondering if it could be used as a robotic "leg".
I mean, could someone program it so that it works like a leg?

I ask you this because I would want to use it to create a robotic leg (and a robotic arm like your) for a small project that I have in my mind.


Yes it is.  It is the robot arm that everyone has been posting about for the last 10 pages.  They have started a kickstarter program to get funding.  We are all waiting to see if they actually produce a product or just take the money and run.  They are currently offering the robot arm mechanical parts for $69 without servos and without electronics.  It is a good deal if they actually deliver on their promises.

https://www.kickstarter.com/projects/ufactory/uarm-put-a-miniature-industrial-robot-arm-on-your?ref=live

John
Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 24, 2014, 10:51 pm
hi John,you have make your robot ??
with the formulas .... ??

im very couriose to look the creation of other user,if my draw are ok for we..
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 26, 2014, 02:54 am

hi John,you have make your robot ??
with the formulas .... ??

im very couriose to look the creation of other user,if my draw are ok for we..


I have the robot arm completed, but not the base.  I created drawings for the base, but made a mistake.  I made the radius the diameter and everything that we burned on the laser cutter was twice as big as it was supposed to be.  Brain fart.

I will have to try again on Monday.

Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 26, 2014, 02:56 am
The other side.
Title: Re: uArm??An open source robot arm
Post by: Chagrin on Apr 26, 2014, 09:03 am
I created drawings for the base, but made a mistake.  I made the radius the diameter and everything that we burned on the laser cutter was twice as big as it was supposed to be.  Brain fart.


Well, you know how it goes. When you make an omelet you need to break a few eggs.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Apr 26, 2014, 08:30 pm
Good photos. The servos seem somewhat small for the size of the arm. do they move the arm ok? I still think a simple temporary base could be made using the home depot lazy susan.
Title: Re: uArm??An open source robot arm
Post by: OldSalt1945 on Apr 26, 2014, 09:38 pm
The lazy susan bearing has a lot of slop in it.  In trying to design something that would allow for that, I kept side-tracking myself.  (this, but that, and the other thing, but then again, although, etc., etc., endless loop).  I finally said to hell with it and ordered a proper bearing.  It was only $7.50 and 4 days shipping time.  Then I goofed up the drawing file and got parts that are too big.  Now I have to wait until after school Monday.

The servos are MG996R digital with 61 in/lb torque (ebay $5.50 free shipping on a slow boat from China).  The humerus is 9" the ulna 10.5".  At a 10" reach, it should be able to lift maybe 5# with friction, arm weight, etc. At full reach of 22" it might be able to lift the rear wheel of my truck or, perhaps a sheet of paper.  50/22 = about a couple of pounds, perhaps, maybe, on a good day with favorable winds.  When I get the new parts from the high school teacher, and hook it up to the Arduino, I will know fer shur.  Assuming no smoke escapes.

Breaking eggs for omlet.  Note the egg in the photo as a size reference.  When I get it working, I will see if I can bash the egg.  I have chickens.  I get the eggs for free, if I don't count the feed bills and equipment and all the other.........................

John

Title: Re: uArm??An open source robot arm
Post by: teocreo on Apr 27, 2014, 09:36 pm
Hi john,very good !!!
very big robot :-) 
Title: Re: uArm??An open source robot arm
Post by: amrovski on May 11, 2014, 03:00 pm
hi  :) i heard that  the cad drawings of the uarm would be released in  may, i've been looking for them every  where, but  i just can't find them, i need the drawings to create the base of the uarm, please can  some one help me  :smiley-sweat:
Title: Re: uArm??An open source robot arm
Post by: keeper63 on May 12, 2014, 05:02 am
I wanted to let everybody know that one of my friends, who participated in the Kickstarter at a level to get a uArm kit - told me that he was contacted a couple of weeks ago by the developers of the uArm to get his information for shipping. This seems like good news; hopefully it means things are progressing with development, and that their lack of responses to inquiries (and here on this forum) means that they are just kicking butt to get orders fulfilled.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on May 12, 2014, 06:25 pm

hi  :) i heard that  the cad drawings of the uarm would be released in  may, i've been looking for them every  where, but  i just can't find them, i need the drawings to create the base of the uarm, please can  some one help me  :smiley-sweat:


Below is a forum where you might ask questions. I previously posted a .pdf file that has ~full size drawings of arm parts that might be of use to you.

http://forum.ufactory.cc/
Title: Re: uArm??An open source robot arm
Post by: amrovski on May 12, 2014, 09:29 pm
thank you cr0sh and zoomkat  for your reply :) 
Title: Re: uArm??An open source robot arm
Post by: zoomkat on May 18, 2014, 08:41 pm
Per the below the arm project seems ton be moving along. Still no arm parts scale drawings, but the bottom arm assembly guide provided good detail of the arm.

http://blog.ufactory.cc/keep-hard-working/

http://www.ufactory.cc/downloads/documents/uArm_Assembly_Instructions_v1.2.3.pdf

Title: Re: uArm??An open source robot arm
Post by: keeper63 on May 20, 2014, 03:33 am

Per the below the arm project seems ton be moving along. Still no arm parts scale drawings, but the bottom arm assembly guide provided good detail of the arm.


It's strange; this assembly guide looks better than the first iteration they supplied me - which I then added some better descriptions and such and sent back - but it still seems strange in one area (and very similar to the original one I was supplied):

They first describe how to build the base (steps 1-5), then jump to building the controller and vacuum holder (steps 6-21), then jump to building the shoulder (steps 22 and 23), then the arm (step 24-36); at step 37 - they start to attach the controller/pump to the shoulder/arm portion, then at steps 38-39 attach the arm to the base, then finish up the suction piece.

Now, this is better than the instructions I got - but it still seems slightly "wrong" (but not having an arm to play with, I can't really tell). What I don't understand, is why it doesn't go base (1-5), shoulder/arm (22-36), then controller/vacuum holder (6-21), then attachment (37-39). It would seem to me that this would be a more logical progression...?

Unless some part gets in the way of the other - not sure. Again, I don't have the parts or such for one of these arms, so maybe it does. Also again, this assembly manual is better than the version I had, where the diagrams weren't as clear, nor the descriptions, and the assembly sequence was more seemingly haphazard.

Overall, I'd say they did a fairly good job of updating it.

:)
Title: Re: uArm??An open source robot arm
Post by: Armatec on Aug 03, 2014, 08:19 pm
http://www.thingiverse.com/thing:407800  <<Here are STL files for a 3D printed version I made in sketchup based on a picture of the uArm parts. Since then they have released a STEP file you can find that here: http://www.thingiverse.com/download:609566

The Lite Arm is different in many ways than the uArm, one of those changes is in rectifying the "side wobble"  the others are reinforcements and cosmetic design changes that are only possible to be constructed in 3D printing and CNC.
Lite Arm is almost Identical in construction, uses the same hardware, bearings, etc. It should also work with their (uarm) software which should also be included in the zip download link above.
This project is fully open source and all the Sketchup CAD files are free to download and modify. I have also included the Sketchup8 software. (which is freeware)
I tried contacting the UF team a while back on their website because I wanted to be a part of their awesome project but they never responded to me, this made me a little indifferent to them, I also thought that they may have ran a scam on KS because they dropped off the planet for awhile. I reverse engineered their arm as best I could (http://www.thingiverse.com/thing:320004) , then I decided to take my own design liberties and made it my own. (http://www.thingiverse.com/download:609566 )
They did not run a scam after all and they finally released the files and software for laser cut parts. (http://www.ufactory.cc/downloads.html)
If they want to contact me I am still interested in working with them in taking the project to the next level.
Cheers!
Lance-
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Aug 08, 2014, 07:45 pm
What I think is needed to be of use to those interested in the arm design is to publish the parts plans as .pdf files. I down loaded the 364 mb draftsight program to try to print out full size patterns of the arm parts from the CAD files, and that was not successful. Many school settings where kids would be interested in making the arms do not have software to access the CAD files, and do not have laser cutters to use with the CAD files. Printable full size parts patterns could be used to lay out the pattern on thin plywood, then a hand coping saw could be used to cut out the parts.

Edit: below is the post where I posted my attempt at getting the arm parts to print out full size pattern from a .pdf file.

http://forum.arduino.cc/index.php?topic=202669.msg1682147#msg1682147
Title: Re: uArm??An open source robot arm
Post by: Armatec on Aug 13, 2014, 08:42 pm
If your going to get into design I suggest you learn CAD the most simple program on earth is Google Sketchup and it is free. You can download it from my thingiverse release along with the arm design already created in that program. I'll make it dead simple for you
Google sketchup 8 Mac and PC:
http://www.thingiverse.com/download:699631
The arm in SKP (sketchup) format:
http://www.thingiverse.com/download:700380

If you want parts you can print them on a 3D printer with this link to the files:
http://www.thingiverse.com/thing:407800

If you want to buy 3D printed Parts:
http://m.ebay.com/itm?itemId=181492881972#

You should be able to publish line drawings in sketchup as well but I am done working on hardware (3 months of my life already invested) I am moving on to software now.
Best,
Lance-

>>>>>>>>>>>>>>>>>>>>>>>>>>
Edit 8/13/14
The parts on ebay sold right after I posted this so it's going to take a couple of days for more parts to be made. If you want a set let me know and ill add it to the print queue. 
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Aug 14, 2014, 06:55 am
Quote
I'll make it dead simple for you


Not quite. I've looked some and have not found a clean solution of being able to generate printable scale .pdf parts drawings from the CAD files. I down loaded draftsight and it is somewhat of a challenge.
Title: Re: uArm??An open source robot arm
Post by: zoomkat on Aug 15, 2014, 06:46 am
How to convert Google Sketchup drawings to scale .pdf plans... part 1.   :smiley-eek:

https://www.youtube.com/watch?v=UWeop-Q9h9s
Title: Re: uArm??An open source robot arm
Post by: Armatec on Aug 15, 2014, 07:30 am

Quote
I'll make it dead simple for you


I guess by dead simple I meant here are the specific links to download SKP8 etc. instead of me listing the steps of what to do.

Great follow up video, I watched all three parts.

Check out page 4 of this PDF the parts are all laid out they just need to be scaled up.
https://thingiverse-production.s3.amazonaws.com/assets/dc/ae/c2/94/d0/Latest_greatest_uArm_Assembly_Instructions_v1.pdf

I did the scale based on the size of the servo technical drawings/paper
http://www.pololu.com/file/0J729/HD-1501MG.pdf

You can scale in Sketchup
Hope this is helpful
Title: Re: uArm??An open source robot arm
Post by: Cactusface on Aug 15, 2014, 08:54 pm
Hi,

      Think I might keep my eye on this, very interesting  will the hardware be available to buy!! on it's own??

Regards

Mel.
Title: Re: uArm??An open source robot arm
Post by: Armatec on Aug 16, 2014, 06:48 pm
The U Factory uArm can be pre-ordered here:
http://store.ufactory.cc/complete-assembled-acrylic-kit/

The Lite Arm (a compatible 3D printed iteration) will be available on first come first serve basis on eBay. My seller acct. is "armatecgroup" the production schedule is as follows:
I'm printing another Arm now, but that will be sold as a kit, once that one goes I can produce a complete model for sale. I have a complete arm now but I need it for software testing and development. Price will be in the same ball park as the uArm (upper $200 range) until I can order parts wholesale. The kits I make are only $50 with shipping. The designs are open source so I expect others will also start coming up for sale online as well.
Title: Re: uArm??An open source robot arm
Post by: Armatec on Aug 17, 2014, 05:02 am
uArm files converted to SVG files on thingiverse:
http://www.thingiverse.com/thing:367431/#files