AR4 Robot Arm Servo Gripper
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- Опубликовано: 22 авг 2024
- This servo gripper is designed for the AR4 robot arm but can be used for any robot or pick place operation. It uses a 25kg DS3225 servo and is built from 3D printed parts. It is controlled from the AR3 or AR4 controllers Arduino Nano board and 5v power supply.
For more info on the AR3 or AR4 robot please visit www.anninrobot...
This video outlines servo gripper wiring and IO for the robot
• AR4 robot grippers and...
@0:19 For the servo arm, since it's a Rotary to Linear reciprocating conversion concept. Thus, suggest to have a running slot on servo arm, catered to the Pin from grip. This facilitates degree of freedom and tackle constraints/ jamming at some point of servo arm's rotation.
DIY of Articulate robot has been eye opening to me. Thanks for sharing on this amazing work. Wish you Godspeed..
So awesome! Thank you for the video and the great design!
Your robot is amazing
Thank you very much
Really cool design. Really cool you just shared this.
Hey matey thanks heaps for sending the parts build came along nicely that was the friendly part of the build now to my introduction in robotics engineering in movement lol thats going to be a fun one cheers matey appreciate everything
Awesome, thank you and keep me posted.
Thank you! That looks nice!
I really wish you had more time to promote your AR4 generally and this gripper in particular. Cheap "desktop robots" or "home robots" remind me of where personal computers were in the mid to late 1970's. The AR4 kind of, sort of, seems like a toy... but of course it's not. It's a real robot that's very inexpensive to build and maintain.
That second point is key. Cheap robots are a game changer. Yet, sadly, most software engineers seem myopically focused on software alone and not software + hardware, such as robots. We don't need another Google, or Amazon, or Facebook (Meta). We need something to wash our dishes and fold our laundry.
amazing design
I would imagine another advantage of pneumatic is it has a relatively consistent force independent of the size of the object you are gripping. For a servo, do you need to program the size of the object? Otherwise the servo would fail to grasp or perhaps overheat trying to crush the object.
I've been programming it to be a slightly smaller size than the object but then I try not to keep it energized for too long so it doesn't overheat.
You can replicate this electrically if you remove the control circuits from the servo and directly drive the brushed DC motor with -5 to +5 volts. The voltage will be proportional to grip force. You will however sacrifice the ability to command specific positions.
@@anninrobotics if space allows it, link servo horn to the jaws via a spring linkage (similar to a shock absorber) so that the servo can drive to "full closed" so that jaws will contact the gripped part with a known preload proportional to the spring constant. This design look great though. Very compact 👍
Cool stuff! 👏🏻👏🏻👏🏻
Awesome, thanks!
Hello. I have a question about servos. Recently I have made a rover with a 5DOF robot arm. I used standard brushed servos (2x 80kg and 2x 30kg and 1x 13kg). 4 of them work as intended. However, the 30kg one in the claw (DS3230 Pro) keeps overheating. I have already replaced servos in the claw several times, because they burned due to overheating. During operation, the claw servo becomes really hot. Even when not holding anything in the claw, after 10min it becomes hot. I am thinking about replacing it with something better that will enable my rover to hold objects for several minutes, and the servos won't die. But what is better?
1. Brushed servo with full aluminium case. Maybe will dissipate heat better. Cost approx. 22$
2. Brushless servo with partially aluminium case. Brushless motor, theoretically, will dissipate heat better due to its windings fixed to its case. Cost approx 26$.
3. Very weak brushed servo (just enough to operate the claw). Lower power->lower heat emission->longer time before overheat. Cost under 10$.
4. If all of the above are bad variants, I will make a custom worm gear servo (that won't consume power when static). But then I'll have to redesign and re-print the claw. Cost under 10$.
Which of these, do you think, will solve my problem?
Coreless servos are not considered, as they are even less resistant to overheat than cored or brushless.
Hi Chris, what is the weight of the gripper and, maybe a silly question, but does the gripper weight form part of the payload capacity?
the gripper weighs 150 grams or 5.3 oz. Yes it would be factored into the payload.
I used your Ar2 old program for my robot Arm but the stepper motors are making noise, using nema 34 and i am using only 24volt supply
Stepper motor whine or noise can be cause by miswiring, if you have any questions please email me at info@anninrobotics.com or post on the forum thx.
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Hello sir
I have made one Robotic Arm but it does not move in a straight line Between two points but goes straight when there are more points in between.
I have been using accelstepper and multi stepper to reach all steppers at same time. Any solution to it.
It also jerks between points so how to avoid that. I think that's maybe because of backlash in planetary gear box so maybe that can go off when changed with harmonic drive.
Thanks in advance sir.
Should I upgrade my Arduino mega with due to keep the same .
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Hello, all my software is free so you can download and see the algorithm I wrote to keep all the motors in time as well as the kinematics, if you want to execute straight lines you will need to perform kinematics at each waypoint along the line. Send me an email at info@anninrobotics.com or post in the forum at www.anninrobotics.com. Its hard to track and keep up with questions and helping people on youtube comments. Email me and let me know what kind of robot you are building and what software you are using and I will try to help out.
@@anninrobotics ok sir thankyou❤️