Hello guys, i made a mechanism with 3 stepper motor and 1 gripper like a cartesian robot with a functionality that gripper can detect different sizes and colours grip it to its specific area on base.
Firstly boxes are just waiting on the table at the spesific location. When we start the program, gripper will move the area where all boxes are waiting and grip box, determine what colour and what size it has and move it to another location which is also spesific location because all areas are written on the table and gripper just put box on the area. After gripper will move back to boxes areas and grip another one determine its colour and size and move it to their locations.
So i made mechanism but i stuck with the detecting different sizes. There will be 2 different size 5x5 cm boxes and 2.5x2.5 cm boxes. So my question is how can i detect them?
Photos are little bit old. I put z axis and gripper, whole mechanism is done now.
So how can i do it? I mean how do i let it to choose boxes? which sensors do i use?
I really appreciate any help you can provide.
best regars
How heavy are the boxes? Is it practical to touch them as part of the process of figuring out the size?
Will the boxes always be correctly positioned or will the robot also have to figure out where the box is?
Would it be practical to push a box into a corner as a combined solution to position and size?
...R
Can you attach a potentiometer to the gripper so that it rotates when the grippers open and close? If so, you could then do an analog read and map it to the distance the grippers open.
The only downside is it would only measure the width of the gripper, and not the other axis. You would have to get the gripper to rotate 90 degrees to measure both axis
Robin2:
How heavy are the boxes? Is it practical to touch them as part of the process of figuring out the size?
Will the boxes always be correctly positioned or will the robot also have to figure out where the box is?
Would it be practical to push a box into a corner as a combined solution to position and size?
...R
Boxes are 10-15gr. Yes boxes are alwayy positioned correctly. There is no complex job, gripper just go to the boxes pick up and place it. After that it goes to another box and detect.
I dont really understand your ' push a box into a corner ' solution.
When i looking up sensors i realized i can use ultrasonic sensor to realize how big is it. Can i use it?
tinman13kup:
Can you attach a potentiometer to the gripper so that it rotates when the grippers open and close? If so, you could then do an analog read and map it to the distance the grippers open.
The only downside is it would only measure the width of the gripper, and not the other axis. You would have to get the gripper to rotate 90 degrees to measure both axis
i thought gripper must be a automatic opening and closing. Its a mini gripper with servo motor. Easy job
volitza:
I dont really understand your ' push a box into a corner ' solution.
Imagine that one corner of the base has "walls" along the two sides making an L shape. It might be useful to push the box into the corner and by noting how far the "pusher" is from the wall you would know the size of the box. But I was really thinking of this in the context where the boxes' position is not known.
Could you make the gripper with spring loaded jaws so that the same movement can adjust to either size of box?
...R
