R2 allein in der Werkstatt…

Mal schauen, was da so passiert, wenn ich nicht da bin.

Let’s see what happens when I’m not there.

Alle Bewegungen Arm, Klappen, Gripper, Dome und Body wurde per Fernsteuerung gemacht. Auch das Greifen des Schraubendrehers wurde für das Video bei meinem Droiden komplett über die Fernsteuerung realisiert.
Ich habe lediglich ein paar Schnitte gemacht, weil der Prozess Greifen, Hochheben und wieder ausfahren sehr lange gedauert hat. Ich muss noch einiges an der Präzision verbessern und auch noch lernen, mit der Steuerung zu arbeiten.

All arm, flap, gripper, dome and body movements were remote controlled. For the video, gripping the screwdriver on my droid was also completely realized via the remote control.
I only made a few cuts because the process of grabbing, lifting and extending again took a long time. I still have to improve some of the precision and also learn to work with the controls.

R2 Gripper

R2 tests the new gripper arm on a screwdriver in the workshop.

With further improvements to the gripper arm, R2 is now trying out whether he can use a screwdriver. The arm now works via Lymotion servos and can be controlled with the serial interface. Next I have to optimize the ODrive motor controller so that the control is more precise.

You can find more details about the Gripper Arm here:

R2D2 can pick things up now

Sounds simple, but it wasn’t as easy as it looks here. To build a working arm that can actually extend to the ground and then still fit in the droid and have a working grapple.

Continue Reading…

Working Gripper Arm

My first Controler test for the Extreme extendble Gipper Arm. the Claw is 3D Printed Design by TEXMEX . Rest is a old Selfi Stick and a Motor from a Mig Welder. MG996 Servo for rotate the Arm and for the Main Up and Down the lynx Motion HD-Servo who can handle a Lot of
torque. Finaly i add some extra 3D Parts to attach the Servos to the Arm. Electronic is a Mega2560 with USB Host Shield and two Motor driver Boards.

I use the Shadow MD Stick with a special Mode to control the Arm.

Next Step is to make some PCB for better wiring.

Here a Link to my Build Blog at ASTROMECH.NET

I motify the SHADOW MD sketch to support that Gripper Control from Navigon Foot Controller and in my Sketch Sabertooth is commend out for Roboteq Controler as Drive Control via PWM Pulse.

Please take care of it and feel free to contact me if you need support for that.

My Software Reposity on GitHub

Ein erster Test



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