2D Robot
2D Robot
RAE 401: Robotic Systems I
RAE 401: Robotic Systems I
With Dr. Hugh Jack
Nicolas Gonzalez, SK Smith
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Overview
Overview
To explore the mathematics and software behind the fundamentals of robotics arms, Dr. Jack instructed students to create a 2D robot that consists of two arm linkages, and two servo motors. Through programming the servo motors, the robot will be able to draw and write on any object within its work envelope.
Project Timeline: January 2024 - February 2024
Figure 1 - 2D Robot Parts
Objectives
Objectives
The robot keeps still when not in use
The robot utilizes two micro servo motors
The links - the distance between the centers of rotation, and the pen - should be 4.0 inches
Use CAD to create mechanical design
Use a Pico and MicroPython to program the micro servos
Mechanical CAD Design
Mechanical CAD Design
Using Creo and Fusion360, several 3D models were created to create the arm linkages, servo brackets, and servo table mount for the 2D robot.
SK and I designed different arm linkages for the robot. Our designs were very simplistic to reduce printing time. I only printed one arm and instead created the second arm link out of cardboard to reduce the stress on the base servo. SK, however, used two 3D-printed arms, one of which included a hole for the pen or pencil.
I designed the model for the servo motor table mount (Figure 2). The slots in the side of the bracket allow for the wire of the servo motor to fit through. The original design (see the leftmost part in Figure 1) did not include this slot and had to be redesigned and printed.
SK's arm and tool-holder design worked very well, so I incorporated my table mount with her robot to complete her design.
Figure 2 - 3D model of the servo motor table mount. Acts as the base of the 2D robot
Figure 3 - 3D model of one of my robot arms
Objectives
Objectives
The robot keeps still when not in use
The robot utilizes two micro servo motors
The links - the distance between the centers of rotation, and the pen - should be 4.0 inches
Use CAD to create mechanical design
Use a Pico and MicroPython to program the micro servos
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