TODO - Githubissues

Joseph-Rance commented 3 years ago

UPDATE 16/10/2020:

I got together a list of parts for the servo power supply, and the components have been sent off. We will be meeting at 6:30 Saturday to discuss the CAD modelling

BlueScorch2 commented 3 years ago

:]

Joseph-Rance commented 3 years ago

From the call:

~~What type of Claw to use~~ one finger will bee fixed, the other attached to servo. the stationary finger will be split in two (not too wide though)
~~Best way to attach servos to arm- ie. 3d printed mould, glue, etc~~ Glue in bottom of cup
~~Best way to attach servo axles to next part~~ see pinned diagram; see pinned link for servo connection
~~What type of base (eg should we just stick it to a big piece of mdf)~~ make sheet on bottom go paast servos to put weight on (e.g. book)
~~Best cross section shape~~ needs cad stress testing
~~how to connect the arm to the servo axles~~ see pinned diagram (3)
~~how to connect the joints~~ see pinned diagram (3)
~~how to connect that arm together in general~~ see second pinned diagram
~~modularity?~~ use modular fingers (make them easily removable
add camera mount to gripper
see last pinned diagram for servo locations

Joseph-Rance commented 3 years ago

link 6 servos on bottom, 2 on beta, 3 on grabber

Joseph-Rance commented 3 years ago

Because we need to make a decision on this and I keep forgetting to bring it up in meetings, I'm just going to make it now: x = 0.4m; y = 0.35m.

Joseph-Rance commented 3 years ago

MESSAGE FROM COM SOC DISCORD @BlueScorch2 @[Gwon] @[rebeka] So its going to be us 4 and Hemanth working on the arm.

Mr. McCain mentionned that we have two different 3D printers when we met him at lunch. The filament we are getting is 1.75mm so we'll be using the flash forge finder (in case you need any specifications for part size etc.)

I think it will be best if we give each person a specific part to work on. I want to decide what everyone is going to be doing ASAP so if anyone is feeling inspired they can begin already, however we have admissions tests coming up so we'll only properly begin modelling on the week beginning the 9th. I think we should aim to have models complete two weeks after that.

Of course, we will almost certainly meet more problems and decisions, so if there are any issues I'm happy to do a meeting (or dm) to talk about them. Also, we'll have to collaborate a bit to decide how each part will connect to the others, so we need to all meet at some point anyways.

Info for modelling (inc. notes from last meeting) should be here: https://github.com/Joseph-Rance/Com-Soc-robotic-arm/issues/1

If you have a question, that above link may be a good place to ask it so everyone else can see.

With regards to who is doing what, does anyone have any preferences? Also how much each person is willing to do? I imagine we'll split the components up like below: person 1: alpha hinge + servo holders for alpha person 2: beta hinge + servo holders for beta person 3: gamma hinge + servo holders for gamma person 4: grabber + camera person 5: x and y beam (+ wire management)

Also, is it possible to get a channel in the eng soc team so we can include Hemanth (and anyone who joins late) in all this?

Joseph-Rance commented 3 years ago

Com Soc team todo:

[x] Fix rotation finder
[x] Begin servo control

Joseph-Rance commented 3 years ago

servo dimensions: 40x19x43

Joseph-Rance commented 3 years ago

Todo before 5pm saturday:

[x] Akilan: Base rotation start
[x] Gwon: Blue section start
[x] Hemanth: Black section start

Joseph-Rance commented 3 years ago

Another diagram similar to the ones above IMG_20201120_203137

Joseph-Rance commented 3 years ago

Joe (by next week):

[x] Add camera mount to gripper
[x] make "wrist" section

Hemanth:

[x] start the "elbow section"

Gwon:

[x] start on base

Joseph-Rance commented 3 years ago

gripper and cross section files: robot arm main.zip

Joseph-Rance commented 3 years ago

If anyone needs the servo layout the most up to date conversation I can find about that on discord has this layout: 1 servo for gripper finger movement 1 servo for gripper rotation 1 servo for gripper up/down 2 servos at "elbow" 6 servos at base for up/down 1 servo for base sideways rotation

Joseph-Rance commented 3 years ago

new gripper and x section files: robot arm main.zip badly edited image of them together:

Joseph-Rance commented 3 years ago

Update: robot arm main (2).zip

GwonWorks commented 3 years ago

BaseGears1.zip

Joseph-Rance commented 3 years ago

robot arm main.zip

Joseph-Rance commented 3 years ago

Update: robot arm main (2).zip image

I just realised that the rightmost servo here needs to be facing the left

Joseph-Rance commented 3 years ago

robot arm main (2).zip

Edit: the cylinder on the right needs to be rotated 90 degrees

GwonWorks commented 3 years ago

BaseGears2.zip

Added a hold with top diameter = 21mm (depth 7mm) and bottom diameter = 32mm (sloped)

Joseph-Rance commented 3 years ago

[x] Joe: Make y part of the elbow
[ ] Hemanth: Make x part of the elbow: inner circle diameter is 25mm distance between servos is 25mm
[x] Gwon: Make bit for x arm to rest on (+ remove connection to base of servo)
[x] Akilan: