Inmoov Robot Rotation Wrist
by hairygael, published
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Have you tried fitting bending sensors in the fingers? I started reading datasheets on a bunch of them but their reliability isn't up to what I would have expected and I fear that false readings from these sensors will throw off the robot, especially since I was planning on using a "machine learning" driven approach so that the robot learns to use its fingers instead of having to hardcode these instructions.
I'll probably develop custom plugins for MRL so I'll let you know how that goes.
For those having problems fitting the servo inside the wrist because of the servo's cable, you have two options. Either try the remixed design ( http://www.thingiverse.com/thi... ) or do like I did. Using a Dremel, I have made a new hole for the cables in the bottom plate of the servo. Now,the wires come out pointing downwards instead of sideways.
The herringbone gears were my first iteration, I had used the Wade gears found on thingiverse which would only be created with herringbone shapes. The result was not okay because the teeth were too small, resulting in loosing steps. I, later, used an Openscad script to create the gears. But this is a long story which is detailed in my blog someplace.
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If you have already assembled the hand with it's rods, well first I have to say: Good job! But now let's take it a little apart again.
I have put many pictures of the assembly on my blog.
This thing can replace "robpart1" or "leftrobpart1" depending on which hand you did.
If you have or plan to make the left hand, print the parts that begin with "leftxxxx".
"cableholderwrist1", "rotawrist3" and "wristgears3" are for the right and left hand.
The gears inside are fine little things and require good tunning on your printer. I printed them at 0.4 thickness in ABS. They should be well finished other wise they won't fit or slip.
Update 24/06/12 modified "wristgears2" to "wristgears3", the others were losing steps after a while. The teeth were too fine for the torque.
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