teachable 4-axis-robot by Kai Schmitt https://padlet.com/melatroid/76tei2afyrk9qz5y documentation for my final project en-us 2023-01-12 07:22:46 UTC 2023-01-26 07:16:30 UTC hello@padlet.com https://padlet.net/icons/png/1f916.png experimental test robot melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885925 first try with servo motors




]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885925 basic mechanical model melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885926 New robot model from Kuka, decompose into individual parts for mounting the motors.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885926 adaption for axis 1 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885928 Epoxy bonding of coupling for axis 1

]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885928 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885929 test setup for axis 4]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885929 test mechanic melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885930 mechanical test construction]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885930 coupling the servomotors melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885931 Servo motors are bonded into the robot arm via couplings]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885931 alpha-test melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885932 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.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885932 Test trials for mechanical implementation melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885933 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885933 Connection between carriage and stepper motor shaft melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885934 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885934 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885935 Temporary setup
for testing basic functions.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885935 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885936 Transfer board from the circuit-board to the robot]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885936 self-referencing of the linear unit melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885937 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.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885937 first free movements! melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885939 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885939 new workplace order melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885940 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885940 extension of the basic scope with switches and new steppershield melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885941 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.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885941 schematic wiring diagram melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885943 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885943 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885944 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.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885944 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885945 Wiring energy drag chain, module board]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885945 extension 2 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885946 Test Arduino exchanged for Keystudio Plus.
Installation of 4 lines display and switches in housing

]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885946 pre-wiring of the control without housing melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885947 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885947 housing design with built-in circuit boards and control system melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885948 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885948 junction box for servo motors etc. melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885949 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885949 finished energy supply via drag chain to the robot melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885950 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885950 c/c++ logic of the menu navigation melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885951 Includes 160 lines]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885951 menu guide schematics melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885953 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885953 ready energy distribution melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885954 Clean cable routing and transfer points to the control system]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885954 finished wiring of the control melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885955 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885955 housing construction model melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885956 create in tinkercad]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885956 preparations for housing construction melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885957 Manufacture of a housing from industrial aluminum composite tube]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885957 space investigation and finished housing melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885958 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885958 power supply wiring melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885959 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885959 fabrication of a base plate from acrylic glass melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885960 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885960 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885961 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885961 wedding video melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885962 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885962 linear unit wiring melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885964 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885964 power supply wiring melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885965 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885965 test trial for applications melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885966 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885966 night lighting test melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885967 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885967 manual operation melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885968 Extension of a hand control for robots to make teachable.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885968 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885969 ready manual control]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885969 time-lapse video during first teaching attempt melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885970 It can be seen that the IR still has problems with referencing and repeatability. ]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885970 free parallel space movements melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885971 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885971 live-console for debugging melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885972 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885972 melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885973 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885973 driveRobot(); melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885974 Function that provides for the processing of the memory and conversion of the robot movements.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885974 driveLinearAxis(); melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885975 Function that ensures that the linear unit moves to a certain position and returns its actual value.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885975 readProgfromSD(); melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885976 Function that reads the existing program from the SD card and writes it to the memory.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885976 saveProgtoSD(); melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885977 Function that copies a single program point to the SD card.]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885977 teachmodus(); melatroid https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885979 Function to move robots and complex program logic to store the taught points]]> 2023-01-12 07:22:46 UTC https://padlet.com/melatroid/76tei2afyrk9qz5y/wish/2441885979