#Robotic Fabrication #Parametric Design #Modularization #GUI |
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In the design field, designers are looking for a more intuitive way to use robots. In order to meet the need, I decided to develop a modularized versatile robotics system with a parametric design interface and visualization. The robot system may need to be aware of the current configuration when a user assembles some modules. I would use the IoT method to design the robot system; the interface can visualize and control the robot modules in real-time. |
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Furthermore, Users can use these modules as a telepresence robotic system since they can be controlled remotely with MQTT. These parts are the same; therefore, users can easily assemble them, reconfiguring them to meet the needs of different scenarios. |
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Therefore, I design the modular robotic systems including three main features: |
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1.Identical units 2.Plug and Play 3.Wireless Control |
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WHY? |
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First, current existing industrial robots are difficult to use for creaters. |
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I have some experiences the I was using industrial robots for digital fabrication and art. |
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I need to deal with many issues when using current industrial robot arm all the time. |
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In a confined working space, current industrial robotic systems are useless. |
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In space, a robot system that is compact and easy to carry andmaintain is crucial. |
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It would be handy to carry and repair these versatile and identical parts because they can be designed to be packed efficiently and changed components. |
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Also, when people have a punch of same modules, it is easy to accumulate using experiences; therefore, it is easier to get helps when encountering problems. |
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Wireless control is useful for remote working |
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Additionally, when we meet online and try to solve some problems, a wireless control robots through the interned could help a lot. |
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I believe it can help to convey ideas as well, the robot can be participants' telepresence hands. |
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The interface I created in Grasshopper, which is able to caculate each modular's angle and send to the robotic system through MQTT |
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It will be easy for users to control the robot intuitively |
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#BOM |
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The section of the robot. |
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SAMD21E18: MCU with more flash storage to memorize the stepper angle in a non-volatile way |
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TMC2208: Sepper motor driver |
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AS5600 is a magnetic encoder magnetic induction angle measurement sensor module, it can output 4096 positions per round |
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Esp8266: wireless control through MQTT |
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Bearing: in this project, I attempt to make bearings as connectors; therefore, they will be modified to be conductive. |
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DC 5V 2-Phase 4-Wire Micro Stepper Motor |
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working in progress |
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A compact design combines a gearbox, a stepper motor, a rotary encoder, connectors(bearings), Wifi Module, and MCU |
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I try to add copper boards to make bearing conductive, using two bearings as GND and 5V to power each system. |
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This mechanism is to press down the copper board to connect inner and outter rings of a bearing. |
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The lubricant in a bearing will make the inner ring and the outer ring insulated; I use a copper-clad PCB to connect them. |
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Rotary encoder test |
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Final Project Video |
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2022 |
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