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robotic:arm [2021/07/30 07:36] – tonyrobotic:arm [2026/09/05 04:42] (current) – external edit 127.0.0.1
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 On this particular arm design the 'hand' end of the arm can only reach the ground from a radius of about 33cm from the base out to 50cm with the arms fully extended horizontally.   The under-beam of the fore-arm prevents it from bending enough to reach the ground at closer distances.  Other lamps that have a square or pentagonal plate at the elbow, can bend without obstruction.  Removing the under-beam of the forearm allows the 'hand' to reach the ground from the base out to 50cm, unobstructed. On this particular arm design the 'hand' end of the arm can only reach the ground from a radius of about 33cm from the base out to 50cm with the arms fully extended horizontally.   The under-beam of the fore-arm prevents it from bending enough to reach the ground at closer distances.  Other lamps that have a square or pentagonal plate at the elbow, can bend without obstruction.  Removing the under-beam of the forearm allows the 'hand' to reach the ground from the base out to 50cm, unobstructed.
  
-====Exploded parts====+==== Exploded parts ====
 {{robotic:robotarm:dsc_0310a.jpg?800|Exploded parts view}} {{robotic:robotarm:dsc_0310a.jpg?800|Exploded parts view}}
  
-=====Construction=====+===== Construction =====
 After a bit of trial and error I selected components from the lamp arm to construct my robot arm.  The springs and support struts didn't seem to be useful here and would just add weight. After a bit of trial and error I selected components from the lamp arm to construct my robot arm.  The springs and support struts didn't seem to be useful here and would just add weight.
  
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 {{robotic:robotarm:dsc_0316a.jpg?800|Assembled components}} {{robotic:robotarm:dsc_0316a.jpg?800|Assembled components}}
  
-=====Servos=====+===== Servos =====
 I didn't have a huge choice of actuators to use to articulate this arm, the first I tried is an old eject mechanism from a CD-ROM drive, [[:electronic:actuator:servo:xm3301b-1|XM-3301B eject mechanism]] I didn't have a huge choice of actuators to use to articulate this arm, the first I tried is an old eject mechanism from a CD-ROM drive, [[:electronic:actuator:servo:xm3301b-1|XM-3301B eject mechanism]]
  
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 The servo was mounted so that the axle of the last servo gear, went through the pivot point of the arm.   A drive pin was then inserted through the gear and further up the arm, so that as the gear turned, the arm was raised or lowered. The servo was mounted so that the axle of the last servo gear, went through the pivot point of the arm.   A drive pin was then inserted through the gear and further up the arm, so that as the gear turned, the arm was raised or lowered.
  
-=====Servo mounted on base and attached to arm=====+===== Servo mounted on base and attached to arm =====
 {{robotic:robotarm:p2279603a.jpg?800|Side view}} {{robotic:robotarm:p2279603a.jpg?800|Side view}}
  
-=====Movement of servo gear and robot arm =====+===== Movement of servo gear and robot arm =====
 {{robotic:robotarm:p2279607a.jpg?300|Side view}} {{robotic:robotarm:p2279607a.jpg?300|Side view}}
 {{robotic:robotarm:p2279609a.jpg?300|Side view}} {{robotic:robotarm:p2279609a.jpg?300|Side view}}
 {{robotic:robotarm:p2279610a.jpg?300|Side view}} {{robotic:robotarm:p2279610a.jpg?300|Side view}}
  
-=====Assembled mechanism=====+===== Assembled mechanism =====
 {{robotic:robotarm:p2279613a.jpg?400|Side view}} {{robotic:robotarm:p2279613a.jpg?400|Side view}}
 {{robotic:robotarm:p2279614a.jpg?400|View from above}} {{robotic:robotarm:p2279614a.jpg?400|View from above}}

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robotic/arm.1627630612.txt.gz · Last modified: 2021/07/30 07:36 by tony
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