Author Topic: An open source robot arm project  (Read 1532 times)

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Offline UFactoryTopic starter

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An open source robot arm project
« on: December 04, 2013, 01:45:41 AM »

uArmⅠ 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.

Recently, I have done the first version of this open source robot arm, driving by Arduino, 4 DOF, 4 Servo motors. Here is a test video of it.
uArmⅠ Test #1


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.


The other one is a 4WD car. I have added 4 Shock Absorbers on it as you can see in the following picture.


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.

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #1 on: December 04, 2013, 01:49:54 AM »
Install uArmⅠ on the 2WD Chassis.




Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #2 on: December 04, 2013, 01:50:47 AM »
Install uArmⅠ on the 4WD Chassis.



« Last Edit: December 04, 2013, 01:52:36 AM by UFactory »

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #3 on: December 05, 2013, 05:25:52 AM »
We have made the second version of uArmⅠ. 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.

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #4 on: December 05, 2013, 07:12:43 AM »
Here is the design which I refer to, the World's Fastest Palletising Robot - ABB IRB 460.
H&C promotes the World's Fastest Palletising Robot - ABB IRB 460

Offline bdeuell

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Re: An open source robot arm project
« Reply #5 on: December 05, 2013, 02:40:54 PM »
what load can it lift when fully extended?

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #6 on: December 06, 2013, 12:13:41 AM »
what load can it lift when fully extended?

I will update a load testing soon.

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #7 on: December 06, 2013, 12:16:51 AM »
The acrylic parts of new version of uArmⅠ v1.1 is arriving now.


Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #8 on: December 06, 2013, 01:38:47 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.


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.


Install the sucker to the head of the robot arm.




Install the servo motor to the head of the robot arm.




The second way for installing.




Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #9 on: December 18, 2013, 08:33:14 PM »
The second test of uArmⅠ, in this version we add 4 suckers on the chassis of the arm to  mount it on smooth surface.

uArmⅠ Test #2

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #10 on: December 21, 2013, 12:51:02 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.


Do the assembling.


The finish Basswood uArm.


More details of this arm.


Here the small gripper and the new sucker holder.


Change the head of the arm and install the gripper on the arm.






Whatís more, we also made a transparent one by acrylic this time.


Here is the way that you can install the sucker with the new holder on the robot arm.


So far, we have 3 uArmⅠ, the black acrylic one, the basswood one and the transparent acrylic one.


More testing videos and improvements will be updated soon. We are going to make this arm better, more stable and more accurate.

Offline jwatte

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Re: An open source robot arm project
« Reply #11 on: December 21, 2013, 04:31:31 PM »
What I really want to know (which is the part that matters for arms) is:
- What's the load capacity?
- What's the precision and repeatability?
- What's the rigidity/flex?

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #12 on: December 26, 2013, 08:35:02 AM »
What I really want to know (which is the part that matters for arms) is:
- What's the load capacity?
- What's the precision and repeatability?
- What's the rigidity/flex?

Hi jwatte,

We are making some test of these things recently. More videos will be updated soon.

Best Regards,
Eric

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #13 on: December 26, 2013, 08:35:59 AM »
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.


See the video here:
uArm test #3


Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #14 on: December 26, 2013, 08:39:23 AM »
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.


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.


See the video here:
uArm test#4


Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #15 on: December 27, 2013, 07:00:55 AM »
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.


Letís see how it works.
Unboxing Iphone 5S by uArm


More interesting applications and test video of uArm will be updated soon.

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #16 on: January 02, 2014, 06:37:09 AM »
OSHW! CHEERS!

OSHW! Cheers!

Offline UFactoryTopic starter

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Re: An open source robot arm project
« Reply #17 on: January 07, 2014, 06:41:29 AM »
We have got some new servos for uArm.


 


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