Once the wrist is composed, you can proceed to screw the gripper to the motor that controls the angle of the wrist. I recommend starting from the end with the assembly of the gripper, which is quite intuitive and simple. Once the caliper is mounted, you will need to mount the SG90 servo in the appropriate space and check that everything moves without friction.Īfter doing this you will have to build the wrist by cutting a small piece of aluminum (a little longer than the width of the servo) and, after having made the notch for the rear part of the motor and the hole for the rotating ring of the motor, you can mount the wrist angle motor with the two adapters I have attached above. Regarding the construction of the robotic arm itself, I don't have much to add to what was said before but let's make a brief summary: The plate of the second motor (wrist rotation) is then screwed to another 3D printed adapter that embraces the aluminum profile (the one more at the end) that holds the last two motors at the end. In addition to this it was necessary to drill a hole of 22mm in diameter (same internal dimension of the aluminum profile) to bring out the motor plate which I screwed to the gripper with four screws.įor the second engine (that of the rotation of the wrist) it was much more complex. In fact, it was necessary to mount the motor in such a way that it was directed towards the outside and not towards one side of the aluminum profile.įor this reason, I designed an adapter that "embraced" only two sides of the aluminum square so that the space of the two removed sides was dedicated to house the motor vertically. I have made these two adapters in Fusion 360 and with the 3D printer. It was enough to screw the motor to the adapters with four bolts and then mount the adapters laterally to the aluminum profiles (with a special template for the holes that I leave you in the files) For the movement of the wrist, the arm needs two motors: one for the angle of the wrist and one for the rotation of the wrist (one that moves it up and down and one that rotates it clockwise or counterclockwise).įor the seat of the first engine, it was necessary to create a seat in the square aluminum tube to make the rear part of the engine come out. The motor (like all motors except for the base and wrist rotation) is mounted with two adapters.
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