Subject:
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Re: 5 DOF robot-arm
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 25 Jul 2002 10:40:33 GMT
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Viewed:
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848 times
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The pneumatic part of the project has five sections:
- air-pump --> we use Ralph Hempel's well known two-pistons pump
- air-direction switch --> J.Brown has solved that problem geniously, so we
use this http://jpbrown.i8.com/
- air-pressure-sensor --> again we use J. Brown's system, which is simple
and efficient
- control-programs with two independent function: pressure-control and
open/close-control
(see Robolab-program)
- grabber mechanism --> we use two small pistons to activate LEGO liftarms
which form the fingers of the hand. The fingers are fixed to a turnable base.
We are preparing to gather all the robot-arm related files on a CD. This
will take some time.
Claude Baumann
In lugnet.robotics, "Jona" <jjeffords@ameritech.net> writes:
> Claude,
>
> Real nice project!
>
> I am interested in more details concerning the grabber hand. The page says
> it is pneumatics, but there don't seem to be many details. Any info on this
> part of the arm would be great.
>
> Thanks,
>
> Jona
> ----- Original Message -----
> From: "Claude Baumann" <cbaumann@ci.educ.lu>
> To: <lego-robotics@crynwr.com>
> Sent: Sunday, July 21, 2002 8:03 AM
> Subject: 5 DOF robot-arm
>
>
> > Hi all,
> >
> > have a look at our 5 DOF robot-arm:
> >
> > (this is a private father-son realization)
> >
> > http://www.convict.lu/Jeunes/RoboticsIntro.htm
> >
> > Features:
> >
> > - 50 cm arm
> > - nearly half-sphere work-space
> > - 2 RCXs
> > - 6 motors
> > - 5 rotation sensors
> > - 1 touch sensor
> > - pneumatic grabber-hand
> > - individual motor control programs (Robolab 2.5)
> >
> > - autonomous motion is possible
> >
> > - preferable: computer-controlled motion
> >
> > * multi-RCX communication (RS232 / USB)
> > * optimizing positions of every articulation depending
> > on the actual location and target position, angular
> > velocities, duration of movement, additional rules
> > * coordinates transformation
> > * linear interpolation
> > * object-recognition through camera
> > * solved challenge: "find and localize LEGO-pieces, grab them and
> > store them into a box"
> >
> > If you are interested in details: e-mail cbaumann@ci.educ.lu
> >
> > Claude Baumann
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Message is in Reply To:
 | | Re: 5 DOF robot-arm
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| Claude, Real nice project! I am interested in more details concerning the grabber hand. The page says it is pneumatics, but there don't seem to be many details. Any info on this part of the arm would be great. Thanks, Jona ----- Original Message (...) (22 years ago, 22-Jul-02, to lugnet.robotics)
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