METHOD
This is the general method for creating a ROBOPuppet for a target device. This tutorial uses FreeCAD, TinkerCAD, Makerware Desktop, a Makerbot Replicator 2X printer, Arduino IDE, and Klampt't in order to modify, print and use the puppet. The following instructions were created while building the puppet for a TX90L robotic arm. This puppet is a 30% scale model of the target robot.
The construction method can be generalized as follows:
- Download the CAD model for the target robot
- inspect each joint surface to be articulated - use these observations to determine the final size of the puppet
- Create a watertight mesh from the CAD model, scaled to the predetermined size.
- Using pocket geometries, modify the robot's mesh to allow the installation of the joint encoder assemblies as well as access for any additional hardware.
- Print the puppet
- Clean the printed model and trim any overhand, rafts or support structures.
- Install joint controller assemblies.
- Assemble puppet
- Install friction control bolts
- Run wiring and hook everything up
- Test encoders and assembly.
Specifics
Vocabulary
Component Parts and Tools
Required 3D Models
Construction
Code
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