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MeArm V0.3 - Pocket Sized Robot Arm

by phenoptix, published

MeArm V0.3 - Pocket Sized Robot Arm by phenoptix Apr 14, 2014
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Summary

We are currently Kickstarting a new design!

This is the latest instalment of the MeArm. Lots of fixes over the V0.2 and is the first to have a working grabber. Designed to be light weight and inexpensive, consisting of four hobby servos and an A4 sheet of acrylic.
As with V0.2. The main architect of this arm is a talented chap called Jack Howard.
Action shots on youtube https://www.youtube.com/watch?v=xVjvxQ9HCMY&feature=youtu.be
Bought to you by http://www.phenoptix.com ;)
Kit now available! http://www.phenoptix.com/products/mearm-pocket-sized-robot-arm
Full instructions on instructables! http://www.instructables.com/id/MeArm-Build-a-Small-Hackable-Robot-Arm/
Code available on Github https://github.com/phenoptix/MeArm (now featuring inverse kinematics!)

Instructions

To build this arm you'll need a laser cutter or 3D printer for the parts. In addition you'll need:
4 x Hobby Servos
4 Rubber feet,
4 x 20mm M3
19 x M3 Nuts
10 x 8mm M3
3 x 10mm M3
11 x 12mm M3
5 x 6mm M3

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How do I actually make it move I cant find any files on what to download to the Arduino?

I recently bought this kit in an electronic store. Instructions on MeArm.io and Instructables are clear and easy to follow.
Had a few problems with the self-tapping holes. Because my kit has not been 3D printed but milled, the edges broke off because of the heating process I suppose. I will make a fix for this with M3 boltrings.

Where did you purchase your kit from? Interested to see if it was one of ours!

No, It was from SOSSolutions in Eindhoven - The Netherlands. They probably took the opensource .dfx to mill their own kits and deliver 4 servo's with it. Also my servo, that moves the front to back part, freaks out when I assign a value to it (I power it from arduino) I probably need to power it from an external source.

Yes they cut their own. We had some issues with them using our images and brand to make them look like ours, but it's more clear it's not our originals now and they put the link to our site on there. Definitely power it from an external supply, the arduino will reset fairly often with only small current draws. Also it might be a digital servo, which we've found to be problematic.

Why is a digital servo a problem? (Or might be a problem?)

Can anybody please tell me how to calibrate the servos before putting them in shoulders?

Comments deleted.

Check out this latest build instructions http://www.instructables.com/id/Pocket-Sized-Robot-Arm-meArm-V04/ That will get you to an approximately correct state. The rest you can adjust in code!

Comments deleted.
Palletizing Robot Arm (3DOF, 50cm reach, 125g lift)

I finished making it and it's so small and awesome! My only issue was where to position the servos boundaries when connecting the horns to them during installation.

There seems to be an oddity in the geometry for the forearm section - the back of the forearm lever is 35mm from pivot to the rear pushrod, but the servo horn at the bottom of the pushrod is only 30mm, so it's not quite a parallelogram.

Jack added that for a slight "gearing". Glad you mentioned it though as I'm going to need to cope with that in the code. Might correct it to make the parallelogram again.

Seem that there is an scaling error in the DXF. The hole for the servos measures 2,3mm x 1,18mm.
The multiplication factor is 10... is only me and my CAD or someone else realized?!?!?

Just you I think! Are you using Inkscape? That always resizes things funny. I'll see if I can get you some measurements to scale too.

Similar problem with Illustrator.

Cheers for letting me know. Have added a 25mm square so it can be scaled to the correct dimensions independent of software.

Can you tell me the thickness of material please ??

This uses 3mm Acrylic. Is 1/8 inch the closest imperial size?

I finish my printed MeArm v0.3. I need some servos ;) and other stuff to complete it. I cant wait to build it and play too!

Love this and have one en-route from Phenoptix in Acrylic, cant wait to build and play!

The Ultimaker 2 is actually one of the largest (there are larger, but mostly one-offs). Thanks fo ruploading the SVG too. You can make your own extrusions by following this procedure: http://baldwisdom.com/make-a-gearhead-pendant/http://baldwisdom.com/make-a-g...

Hey Kevin, thanks for your input! All the stock is 3mm, thanks for breaking it up. I have no idea on 3D printer bed sizes.

or, tell me how thick to extrude and I'll break up the DXF

can you do a zip of individual files, or at least cut it down the middle? It won't fit on my ultimaker2 bed.

Just added STL files. First to 3D print gets a free set of Servos!

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