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harik2000 wrote:Hi guys, Just as a general question, how do you guys plan on developing a master/slave kit, would creating the master system be custom-made, 3d printed, etc. I am also trying to research more on master/slave systems and i would greatly appreciate it if you can give me some links, advice, etc. Also what should be a general rule of thumb or checklist before beginning work on a master-slave system? Thanks!

Just start googling and understand the concept. Go to youtube and find the West Ottawa Robot Arm Mimic control video (its a great example).
Look into arduino and the servo knob example. Buy potentiometers. This event is most likely going to involve 3d printing so make sure you know how to cad. Buy Servos!!! Look into brands, torque, etc. You can write up plans and post them here (drawings too) and we can comment/help you out

windu34 wrote:Go to youtube and find the West Ottawa Robot Arm Mimic control video (its a great example).

https://www.youtube.com/watch?v=32SwUq3p5cs
https://www.youtube.com/watch?v=0c9Lu2DwO-I

I agree, it's a great example of both the master-slave system and double arms.

Hey guys, I am curious to see what you guys have come up with. It would be nice if you have some pics or some videos but here is my design: Still need to add a base, active end affector, and complete my elevator superstructure. I'm waiting for people to give feedback or show some of their own designs.[img][/img]

harik2000 wrote:Hey guys, I am curious to see what you guys have come up with. It would be nice if you have some pics or some videos but here is my design: Still need to add a base, active end affector, and complete my elevator superstructure. I'm waiting for people to give feedback or show some of their own designs.[img]

toshow.JPG

[/img]

I have a few questions/feedback for u to consider:
Why 3 joints instead of 2?
How do you move vertically?
What type of servos do u plan to use?
Master-slave?
How will both arms move vertically on one pole?

windu34 wrote:

harik2000 wrote:Hey guys, I am curious to see what you guys have come up with. It would be nice if you have some pics or some videos but here is my design: Still need to add a base, active end affector, and complete my elevator superstructure. I'm waiting for people to give feedback or show some of their own designs.[img]

toshow.JPG

[/img]

I have a few questions/feedback for u to consider:
Why 3 joints instead of 2?
How do you move vertically?
What type of servos do u plan to use?
Master-slave?
How will both arms move vertically on one pole?

If i use 2 joints,i tried to CAD it and realized that it was not possible for me to reach everysingle place easily. I had to tinker with the geometry of the placement, etc. to make it reach everywhere in the board. With three joints, it was so much more easier to travel around the board and figured it was only 2 more motors so went with it.

There is a carriage attached to the angle bracket which will connect with the arm. The carriage will go up the 1 by 1 aluminum with the smooth flanged bearings. Inside the 1 by 1 there will be a belt and timing pulley to pull the carriage up accordingly.

I plan on using nema-17 steppers(the gray oxes on top of each joint) and ssome arduino-compatible servos for the active end affector. Even the elevatir is powered by a stepper motor on the bottom of the arm.

Yes for master-slave, it will work perfectly(hopefully) for a SCARA type arm rather than RC or joystick.

There are 2 poles each arm goes on one. Sorry for the bad pic.

harik2000 wrote:

windu34 wrote:

harik2000 wrote:Hey guys, I am curious to see what you guys have come up with. It would be nice if you have some pics or some videos but here is my design: Still need to add a base, active end affector, and complete my elevator superstructure. I'm waiting for people to give feedback or show some of their own designs.[img]

toshow.JPG

[/img]

I have a few questions/feedback for u to consider:
Why 3 joints instead of 2?
How do you move vertically?
What type of servos do u plan to use?
Master-slave?
How will both arms move vertically on one pole?

If i use 2 joints,i tried to CAD it and realized that it was not possible for me to reach everysingle place easily. I had to tinker with the geometry of the placement, etc. to make it reach everywhere in the board. With three joints, it was so much more easier to travel around the board and figured it was only 2 more motors so went with it.

There is a carriage attached to the angle bracket which will connect with the arm. The carriage will go up the 1 by 1 aluminum with the smooth flanged bearings. Inside the 1 by 1 there will be a belt and timing pulley to pull the carriage up accordingly.

I plan on using nema-17 steppers(the gray oxes on top of each joint) and ssome arduino-compatible servos for the active end affector. Even the elevatir is powered by a stepper motor on the bottom of the arm.

Yes for master-slave, it will work perfectly(hopefully) for a SCARA type arm rather than RC or joystick.

There are 2 poles each arm goes on one. Sorry for the bad pic.

Everything about your plan seems do-able except I feel your end-effector design will not be effective. I recdntly finished by scara-style robot and I got to tell you, the biggest problem is gonna be bending; the weight will cause joints as well as arms to bend and be under tremendous stress. Your vertical is going to need ALOT of torque to be able to smoothly move your arm vertically...

With the battery voltage, Im going to purchase some 12V NiMH batteries. The 12V batteries are labeled 12V but when fully charged are 14.5V is that ok to use?

zarnold16 wrote:With the battery voltage, Im going to purchase some 12V NiMH batteries. The 12V batteries are labeled 12V but when fully charged are 14.5V is that ok to use?

Rules specify nominal voltage. You're good

windu34 wrote:

zarnold16 wrote:With the battery voltage, Im going to purchase some 12V NiMH batteries. The 12V batteries are labeled 12V but when fully charged are 14.5V is that ok to use?

Rules specify nominal voltage. You're good

Ok, good thanks. I forgot it said nominal.

What is the best way to regulate the voltage? With a 12V battery regulated to 5V and 12V with a high output of like 3-5 Amps.