final project idea
Based on my previous experience and interest I chose my final project to design a Collaborative 6- Axis Robotic arm KRAB. As an extensive user of Rhino - Grasshopper platform, my proposal is to control KRAB from Rhino Grasshopper itself using a Inverse Kinematics solver based on the source plane and user defined target plane.
The joint configuration of the robotic arm will follow the standard 6-Axis configuration available in the market :
The robotic arm project started as a basic sketch in which the shape, size and dimensions are fixed.
bill of materials
The total price of the project has come up to 5200 INR or about 80 USD. The bill of materials can be accessed by clicking on the image or it can be downloaded here.
work of previous weeks
A few of my previous week project are connected with my final Project.
01. electronics design
The Krab Board that sits in the heart of the robot, the control board was designed in the electronics design week.
02. embedded programming
In this week I have started the coding with the board through Grasshopper. So it s a very important week for this project.
03. input devices
The clash detection circuit of the Robot was made in the input device using ultrasonic distance sensor.
04. interface and application programming
The way Krab moves, works, and helps user to interact with it was designed in this week.
3d & cnc design
In the final project development weeks i had printed the 3D printed parts and CNC milled base to hold the bearing the base motor.
This photo shows the Finished and unfinished 3D printed parts. LASER cut pieces of acrylic, motors, bearings and CNC cut base.
CNC Machining in ShopBot. Now the pars of the robot will be showed in detail with their motor fixture, bearing fixture and connection to each other.
J5 with MG90S attached and Bearing
J5 with MG90S attached and Bearing (Side view). The bearing was press fit in an ABS shaft which will into anothe ABS case.
J4 with MG90S attached. The four black screws in the center hold the servo for for connecting in J3
mini servo horn
J5 and J4 getting fixed.
Servo Horn fixed on J3
Servo and horn fixed on J3
J3 Connecting with rest of the assembly of J4 and J5
J2 connected with servo and horn
J2 getting connected with rest of the assembly
J1 Bearing are fixed o the CNC Base and Motor is being attached with the holding plate.
I have tried to incorporate Neils comment as much as possible in this iteration of the Robot.
All the wires are passing through the slit in the J2. only clutter I could not solve was the place where the wires are coming to connect at board. Its 6 wires thats bundled in the .
Original Design Files can be obtained from here:
3d printed parts :
laser cut :
png for milling:
model, control, interface: Requires, Rhino-Grasshopper, Human, Firefly installed on system.
There has been some projects in this regard which has inspired me to develop my on robotic arm.
project development >>
Avishek Das | 2017 | FabLab CEPT