SME Robot Arm

Sponsors: Bojo Inc. and TerraLuna LLC

Meeting Time

'5 WEEKS LEFT BEFORE THIS IS DUE

Meeting time is 7:00 p.m. each Tuesday, at 473 Sapena Court, Santa Clara, suites 19, 23, and 24.

== Task List =

By next meeting:

• Continue cutting pieces gripper and build arm - Nick, Adelmo
  • gripper
  • re-cut base top plate and brackets for new shoulder servos
  • upper arm w/ holes for bell crank
  • wrist piece w/ holes added for bell crank
• servo testing using program once arm is completed - Salam, Adelmo and Kevin
  • shoulder
  • gripper
  • wrist
• order servos -- Steve:
  • order screws and washers for servo cranks
• design changes for completed arm - Adelmo and Nick
• dynamics analysis - Salam

By next meeting with Dr. Wang, we need to have the servo's movable using the program, the arm fully built, and kinematics analysis completed.

Scope

Iteratively develop an inexpensive, tabletop 6-axis arm for use in small and medium enterprise light manufacturing automation projects. Develop and demonstrate sample applications for the arm.

This team is a potential customer of the SME Robot Kit and Linux-based Automation Controller, and will be evaluated in part by its ability to respond to the supply-chain issues these dependencies will produce.

Objectives

Use laser-cut fabrication for major structural parts.

Include grippers for centimeter and submillimeter-scale parts handling, sorting, and pick-and-place.

Make extensive use of rapid-protoyping techniques, solid modeling and simulation, and high-level scripting languages.

Make extensive use of COTS components such as R/C servos.

Use a general-purpose set of Linux-based software and hardware for sensors and motion control, with scripting in Python for application-specific customization. Use sponsor-provided project management web site (http://t7a.org) for documentation, status, and issue tracking.

Industry sponsors will provide access to lab including laser cutter, solid modeling workstations, EDM and other machine tools, pneumatic and electromechanical components, project management and mentoring, and computing infrastructure support.

Deliverables

Solid models of all parts, servos, and other mechanical elements.

Source code of any software developed for the project.

Early delivery of requirements to the SME Robot Kit and Linux-based Automation Controller teams, with followup as needed.

Demonstrate two sample applications for the arm; the applications must be useful in industry, able to produce a 3-month return on a typical users' investment in the arm. Show financials.

Two complete arms, assembled for use in the sample applications.

HowTo and Tips

• Society of Robots -- http://www.societyofrobots.com/

Parts and Supplies

• Tower Hobbies -- http://www.towerhobbies.com/
• BP Hobbies -- http://www.bphobbies.com
• McMaster-Carr -- http://www.mcmaster.com/
• Sheldon's Hobbies -- http://www.sheldonshobbies.com/
• HSC -- http://www.halted.com/
• Wierd Stuff -- http://www.weirdstuff.com/
• Triangle Machinery -- http://www.trianglemachinery.com/
• Olander -- http://www.olander.com/
• Misumi -- http://www.misumiusa.com/
• Hitec (Servos) -- http://www.hitecrcd.com/
• Lynxmotion (Servos and parts, hobby arms) -- http://lynxmotion.com/
• Servo Solid Models -- http://www.lynxmotion.com/ViewPage.aspx?ContentCode=sesmodel#servos
• Tap Plastics (look for the $1 or so scrap pieces) -- http://www.tapplastics.com/

Design Points

• All standoffs to be 10-32 thread, 1/4" aluminum for now; these are available up to 1/2", still with 10-32 thread, so we can swap in larger diameter standoffs later if needed, with minimal or no rework.

Password Recovery

Go to the bottom of http://mailman.terraluna.org/mailman/listinfo/telemetry and enter your email address; one of:

   foismurda@yahoo.com
   kvonraesfeld@gmail.com 
   ninja1314@hotmail.com 
   salam_1983@yahoo.com

...your password will be mailed to you at the above address.