Iterating on the 20sffactory robot arm 🦾🤖
Hi! 👋
This repo is home to all the notes, thoughts and future plans I have for my build of the awesome 20sf Robot Arm. Below, you'll find some basic info covering some of the physical and electrical attributes of the arm and the software stack used to control it; There's also a TODO list of features I'm hoping to add in the near future.
If you have any questions or comments, feel free to post on the discussions board! 🙋
- 3 axis palletizer robot arm, with an additional axis via the linear rails
- The frame is 3D Printed (all parts can be printed on a prusa mini (print volume - 180mm^3)
- Hardware is easily sourced online
- Duet 3 mini 5+ running RepRapFirmware with custom IK code
- DWC interface with http gcode server exposed
- Google Coral Dev Board, responsible for...
- Processes Camera input
- Runs OpenCV for basic edge detection
- Passes images off to a remote ML model for advanced object detection
- Interfaces with the duet web server via http requests
- 24v 10amp meanwell power supply
- 2 High Torque Nema 17 Steppers running at 24v (one for each arm)
- 2 Regular Nema 17 Steppers running at 24v (one for the rotational axis and one for the linear rails)
- 1 tiny stepper motor for gripper (with bi-polar conversion)
- 1 5v Servo for the camera tilt mount
- No end stops (all homing is done via stall detection on the Duet)
- Build robot
- Design and print a case for the Mini 5+
- Electronics (cable routing, wiring, soldering, etc)
- Software Basics (provision Duet 3 Mini 5+)
- Stepper Motor Config (steps/deg, speed, accel, homing files, homing sequence)
- Stall detection homing
- End Effector (servo gripper installed, configured and running)
- Get IK coded and set up (building custom RFF)
- Get robo viewer plugin set up on DWC
- Switch from custom IK to RRF once 3.5 is released
- Switch to Coral Mini Dev board (smaller, lighter, in axis camera connector)
; TODOTODO