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first try with servo motors

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New robot model from Kuka, decompose into individual parts for mounting the motors.

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Epoxy bonding of coupling for axis 1

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test setup for axis 4

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mechanical test construction

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Servo motors are bonded into the robot arm via couplings

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First walking test with the installed servo motors and the linear travel axis. The test for the power operation was very large, since the motors move to "0" position after each restart. This means that the robot moves merciless to his home position. The commissioning of the linear axis was difficult, because either the steppershield does not fit correctly to the motor or the library does not provide the expected functions. Therefore a new professional steppershield was chosen.

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Test trials for mechanical implementation

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Test trials for mechanical implementation

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Connection between carriage and stepper motor shaft

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Connection between carriage and stepper motor shaft

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Temporary setup
for testing basic functions.

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Transfer board from the circuit-board to the robot

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The linear unit counts the number of steps that the stepper motor turns, a value that is later used to calculate the actual positions. The end positions are detected via stop-
end-switches.

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extension of the basic scope with switches and new steppershield

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extension of the basic scope with switches and new steppershield

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To make the robot controllable
he got the first switches.
The voltage supply is routed via a real power supply unit for better stabilization of the supply.

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Adaptation of the main power supply with new voltage levels and add a distribution board.
Module boards for line separation and routing via energy drag chain.

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Wiring energy drag chain, module board

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Test Arduino exchanged for Keystudio Plus.
Installation of 4 lines display and switches in housing

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pre-wiring of the control without housing

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pre-wiring of the control without housing

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housing design with built-in circuit boards and control system

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housing design with built-in circuit boards and control system

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finished energy supply via drag chain to the robot

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finished energy supply via drag chain to the robot

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Includes 160 lines

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Clean cable routing and transfer points to the control system

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create in tinkercad

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Manufacture of a housing from industrial aluminum composite tube

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space investigation and finished housing

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space investigation and finished housing

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fabrication of a base plate from acrylic glass

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fabrication of a base plate from acrylic glass

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Extension of a hand control for robots to make teachable.

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ready manual control

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time-lapse video during first teaching attempt

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time-lapse video during first teaching attempt

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It can be seen that the IR still has problems with referencing and repeatability.

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Function that provides for the processing of the memory and conversion of the robot movements.

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Function that ensures that the linear unit moves to a certain position and returns its actual value.

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Function that reads the existing program from the SD card and writes it to the memory.

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Function that copies a single program point to the SD card.

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Function to move robots and complex program logic to store the taught points