SPM - 3D Printed Spherical Parallel Manipulator Setup & Movement Test
Автор: Swann Schilling
Загружено: 2021-05-06
Просмотров: 21623
Описание:
Setup & Movement Test for my SPM design, using Unity on a Linux Laptop!
This 3D printed actuator will be used as an end effector for my robotic arm, other use cases might be for a camera gimbal or agile eye!
I was inspired by Pollen Robotics Orbita joint, but since the boards for driving it are not available, I decided to build my own.
This SPM has unlimited rotational freedom on the horizontal axis and is being driven by three BLDC motors. The IK is calculated in Unity and send to the board via Serial Port or Flask Server.
Storm32 Firmware by runger1101001
https://github.com/runger1101001
I am planning to release the print files and will update the parts list...
Stay tuned for more content!
0:00 - Intro
0:30 - Unity On Linux
2:45 - Hardware Setup
3:15 - Software Setup
3:30 - Future Ideas - VR Control
3:50 - Future Ideas - Robotic Arm
4:05 - Movement Test
Hardware consists of
3 x EMAX GB2210 BLDC
3 x AS5048A Encoder
and the
Storm32 BGC 32Bit MCU
Bearings used
3 x 61709-ZZ 45x55x6mm
12 x MR128-2RS 8x12x3.5mm
6 x 679 9x14x3mm
3D Printing Files
https://www.printables.com/model/3239...
Повторяем попытку...
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