5/23/2017

This week we have finished basic control and fine tuning of x, y and z motors. We also completed the gripper with functioning motors but they will still require adjustments. Each portion of the complete build has been successfully tested. Our goal for the coming days is to have everything fully integrated and tested for full user control.

Gripper Completion

Since last week, we have added two drive motors to the backside of the gripper. One drives the arms in and out using a differential, and the other drives the whole mechanism forward and backwards. This will enable us to move forward, grab a single block, and retreat.

Unfortunately, the current configuration restricts us to only gripping the front, left, and right sides of the tower. We also are mounting the gripper right side up, which removes the bottom few rows of the tower from available blocks. We are working towards a solution to this, but the existing gripper should perform where it is needed.

Gripper demo1.mp4

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Gripper Demo2.mp4

Vertical Movement

The motors mounted to the vertical 2020 Aluminum have successfully been tested and integrated into control. A mechanical stopper switch has also been tested and will be integrated into the final assembly. The videos below show basic movement (left), and a demonstration of the mechanical stopper switch (right).

20170518_174521.mp4

videoplayback.mp4

Spinning Movement

Motor for spinning movement has successfully been tested with a modified laser cut gear, which converts from the nema motor dimensions to the same gearing used on the outside of the spinning disc.

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Computer Vision Lag Demo

We did a quick test to see how bad the lag is while controlling the robot remotely. This test was done with our robot's camera pointed at a 3D printer, but the concept remains for our robot as well.

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