An open source robot arm project

Community Projects
1

http://forums.hackaday.com/download/fil … &mode=view

uArmⅠ is a small Palletizing Robot refer to ABB PalletPack IRB 460. You can also use it as a robot arm and make a development of it to make more interesting applications.

Recently, I have done the first version of this open source robot arm, driving by Arduino, 4 DOF, 4 Servo motors. Here is a test video of it.

http://www.youtube.com/watch?v=FZL_t9PUWZk

In order to make it more flexible and easy driving, I have also designed two kinds of Chassis of the robot arm.

One is a simple 2WD car as you can see in the following picture.

http://forums.hackaday.com/download/fil … &mode=view

The other one is a 4WD car. I have added 4 Shock Absorbers on it as you can see in the following picture.

http://forums.hackaday.com/download/fil … &mode=view

So you can install the robot arm on the Chassis and use this platform to do further applications on the ground.

Next, a special gripper for this robot arm is in designing and will be updated soon.

2

Install uArmⅠ on the 2WD Chassis.

http://forums.hackaday.com/download/fil … &mode=view

http://forums.hackaday.com/download/fil … &mode=view

3

Install uArmⅠ on the 4WD Chassis.

http://forums.hackaday.com/download/fil … &mode=view

http://forums.hackaday.com/download/fil … &mode=view

4

We have made the second version of uArmⅠ. In this version, you can change the head of the arm, so the fourth servo on the head of the arm can face down and forward by different install ways. A special robot gripper is in designing. See more details below.

http://www.youtube.com/watch?v=Lw0SAU2apIQ

5

Here is the design which I refer to, the World’s Fastest Palletising Robot - ABB IRB 460.

http://www.youtube.com/watch?v=6yUF8ZEFFfU

6

The acrylic parts of new version of uArmⅠ v1.1 is arriving now.

http://forums.hackaday.com/download/fil … &mode=view

7

From now on, there are two kinds of choices for the head of the robot arm.

One is a sucker and the other is a servo for installing robot gripper on it. You can see two of them in the following picture.

http://forums.hackaday.com/download/fil … &mode=view

On the other hand, there are also two ways to install the head to the robot arm. One is to face down and the other is to face forward. The following picture shows the parts for different install ways.

http://forums.hackaday.com/download/fil … &mode=view

Install the sucker to the head of the robot arm.

http://forums.hackaday.com/download/fil … &mode=view

http://forums.hackaday.com/download/fil … &mode=view

Install the servo motor to the head of the robot arm.

http://forums.hackaday.com/download/fil … &mode=view

http://forums.hackaday.com/download/fil … &mode=view

The second way for installing.

http://forums.hackaday.com/download/fil … &mode=view

http://forums.hackaday.com/download/fil … &mode=view

8

Holy crap that is one badass arm you’re making! Are you planning on using some kind of object recognition with it?

9

Tomdf:
Holy crap that is one badass arm you’re making! Are you planning on using some kind of object recognition with it?

Maybe we will add a camera on it in the future.

10

The second test of uArmⅠ, in this version we add 4 suckers on the chassis of the arm to mount it on smooth surface.

http://www.youtube.com/watch?v=ZB-Wc1FNvjw

11

After a few days of improvement work, we have made some new designs of the robot arm. Make some changes of the structure to make the arm stable. Add a small gripper and the new sucker holder. Then we decide to try some other materials to make the robot arm. So we got a laser cut Basswood one.

Here is the laser cut Basswood parts.

http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg

Do the assembling.

http://blog.ufactory.cc/wp-content/uplo … G_0013.jpg

The finish Basswood uArm.

http://blog.ufactory.cc/wp-content/uplo … G_0017.jpg

More details of this arm.

http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg

Here the small gripper and the new sucker holder.

http://blog.ufactory.cc/wp-content/uplo … G_0063.jpg

Change the head of the arm and install the gripper on the arm.

http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg

http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg

http://blog.ufactory.cc/wp-content/uplo … G_0040.jpg

What’s more, we also made a transparent one by acrylic this time.

http://blog.ufactory.cc/wp-content/uplo … G_0059.jpg

Here is the way that you can install the sucker with the new holder on the robot arm.

http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg http://blog.ufactory.cc/wp-content/uplo … 00x199.jpg

So far, we have 3 uArmⅠ, the black acrylic one, the basswood one and the transparent acrylic one.

http://blog.ufactory.cc/wp-content/uplo … G_0055.jpg

More testing videos and improvements will be updated soon. We are going to make this arm better, more stable and more accurate.

12

The second version of the robot arm is quite stable now. Here is a stacking test by using the gripper. More applications and test videos will be updated soon.

http://blog.ufactory.cc/wp-content/uplo … 20x340.jpg

See the video here: http://www.youtube.com/watch?v=_VaSzJJt62U.

13

A Vacuum Gripper Suction Cup is often used on industry robot arm in manufacture. And we also add a small one on uArm.

The Vacuum Gripper Suction Cup is controlled by a small Vacuum Pump and a Solenoid Valve.

http://blog.ufactory.cc/wp-content/uplo … m-Pump.png

We made the first load test of the robot arm by using the Vacuum Gripper Suction Cup. It can lift a 330ml Coca Cola and move it to another place. More applications and test videos with the Vacuum Gripper Suction Cup will be updated soon.

http://blog.ufactory.cc/wp-content/uplo … 20x340.jpg

See the video here: http://www.youtube.com/watch?v=x6pJqdSk29Y

14

After several tests of the arm with vacuum gripper suction cup, the robot arm can work very well.

Recently, we got an Iphone 5S, so we decide to make an unboxing test of Iphnoe 5S by uArm.

http://blog.ufactory.cc/wp-content/uplo … 00x168.jpg http://blog.ufactory.cc/wp-content/uplo … 00x168.jpg

Let’s see how it works.

http://www.youtube.com/watch?v=fqZLsYoKU44

More interesting applications and test video of uArm will be updated soon.

15

Very nice. Maybe you could attach a suction mechanism for pick and place components for the home. I would be very interested in something like this as I am hand placing small components. Shouldn’t to hard to implement, just need a smaller suction cup. :slight_smile:

16

codlink:
Very nice. Maybe you could attach a suction mechanism for pick and place components for the home. I would be very interested in something like this as I am hand placing small components. Shouldn’t to hard to implement, just need a smaller suction cup. :slight_smile:

Yes, we have different kinds of suction cup for different application scenarios.

17

OSHW！CHEERS!

http://blog.ufactory.cc/wp-content/uplo … source.jpg

http://www.youtube.com/watch?v=-BfKwpFKA9o

18

When?

19

We have got some new servos for uArm.

http://blog.ufactory.cc/wp-content/uplo … G_0384.jpg

20

codlink:
When?

Hi codlink,

What do you mean by “when?”