The modular robot is suitable for learning or teaching different configurations of robot manipulators. The complete modular robot Kit is composed of three main modules: Rotational module, Lineal Module, and under-actuated adapters.
The linear module complements the rotational module and can create millions of configurations by variating the geometry of the module itself, combining modules you can obtain manipulators from two DoF up to six DOF.
The design is meant to be assembly fast and repeatedly. This feature provides flexibility to try new configurations with very short preparation period. It is intended to use standard-size hobby servo which allows lower final cost.
Besides the screws for the base and servo, the module does not require any other additional mechanical equipment; the design comes with a fast and easy printable connector.
It is necessary to build the control for the servos as well as the electrical connection for the servos.
In the PDF there is a design for printed boards and ten-pin connectors that provide the capability of connecting the servos in serial connection. It can support up to 6 servos.
Print the base and attach it to a stable surface with four countersunk screws fix the first module with the printable clamp to the servo.
Tags: Robot, Robotic, Robotics, Manipulator, Control, Cool Robot, Robotic Arm, Educational Robot, Carlos Zarama
Print resolution of 0.2 or 0.15 might work with some sanding on the joints; for optimal results, It I recommend to print the parts with resolution 0.1mm or better.
The support material may interfere, remove it thoroughly.
Assemble the module and Serial connector
Follow the instructions to assemble the module. Print at least two clamps per module.
The module fits any digital or analog standard servo with 180 degrees of rotation; Higher rotation would damage the linear module, I calibrate the rack and gear of the module using this restriction.
The printable gear should be attached to the servo. I recommend using heavy duty, high torque and metallic gears for better performance. Nevertheless, I tried with the entry level Hitec® HS-311 and worked relatively well.
When creating any configuration, It is important to take in account mechanical interferences to avoid damage in the servos or modules.
The electrical serial connection for the modules is suggested for easier and faster configurations, but not required.
The PDF file contains the printed board's designs for install in the rotational module and linear module; the scale is 1:1 on a Letter 8.5"x11" paper size (not A4).
On going project
The design is a complete project for an educational modular robot made for my undergrad thesis in 2004 (Universidad De Los Andes, Bogota) using the concept of Prof Carlos F. Rodriguez and David Garzon. The designed has been updated for publication
The modular robot it´s meant to be fast and simple for the users. These parts are the fourth prototype version; the dimensions are proof to work with a resolution 0.1 or better.
I hope this will help to everyone interested in learn or teach manipulator controls. I would be pleased to post any picture or video of your projects.
Try the linear module for more configurations, and for more advanced control challenges try the underactuated module.
At this stage, I have no end effector designs yet.