Questions tagged [design]
Mechanical, electronic or programmatic design of a robot.
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Force calculation for robotic arm
I built a robotic arm that consists of 3 MG 996R servo motor and 3 MG 90S servo motor. How to calculate the amount of load it can lift? Can anyone out there help me regarding this? I need step by step ...
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1
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How can the ROS 2 TurtleSim turtle icon be changed?
In the turtlesim program used in many ROS 2 tutorials, there is a turtle icon that can be controlled. I would like to change this icon to be a different image that I have been provided, so that when I ...
CommunityBot
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What joint combination gives you an 6 DoF workspace?
If you want to have a 6 DoF workspace of your end-effector you need 6 joints.
But how exactly do the joints have to be ordered?
For instance:
A robot with 6 revolute joints where all the rotation ...
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1
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211
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5 bar linkage hand exoskeleton
I have a project to design a hand exoskeleton for hand rehabilitation. The problem is that i'm thinked I only need the linkage mechanism with multiple 4 bar linkages. But because of human fingers ...
CommunityBot
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2
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Design of the baseplate of mobile robot
I need to construct a Mobile robots preferably circular type of diameter 30 cm, it will be carrying a payload of 5kg. What will be optimal thickness the baseplate considering the material as aluminium?...
CommunityBot
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SCARA robot configuration subtype (first axis vertical)
I'm working on a project where I need a SCARA where the first axis is the linear / vertical one (as often seen in hobbyist configurations). Something like this:
https://www.igus.eu/product/21104?C=DE&...
CommunityBot
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2
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Robot - Wall Avoiding (Plinko Robot)
I am looking to build a robot that will travel and zig-zag down the hallway.It will be headed towards a wall at roughly 45 degrees and then use a IR LED to detect when a wall is nearby. From there, ...
CommunityBot
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3
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What is the best way to power a large number (27) servos at 5 V?
I apologize if this question may sound a little vague. I am working on a robotics project that will contain 27 servos of various sizes and I am having trouble figuring out how they should be powered.
...
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How to convert 2D AutoCad drawing into CODE for CNC machine (laser cutter)?
I am a student of mechanical engineering, currently working on my 3rd-year project. I am designing a sheet-metal enclosure for a belt drive. We have a common laser cutter that could be used for my ...
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Why are bird-like bipedal robots more efficient than humanoid robots?
Well, some websites wrote that "Robotic legs with an unconventional design inspired by flightless birds can run 300 per cent more efficiently than the same device would if designed traditionally.&...
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Can the human body distribution of load and effort on the lower body be directly translated to bipedal robots?
So, I couldn't find the actual source for this affirmation, but I read somewhere some time ago that the lower part of the human body has to be 3 times stronger than the top half; and that's why you ...
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Is it possible to set up intra process communications b/w 1 publisher and multiple subscribers?
I was reading this tutorial: https://docs.ros.org/en/humble/Tutorials/Demos/Intra-Process-Communication.html
Is it possible to have multiple subscribers to the published message? How does the unique ...
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Light weight one axis hinge name/recommendation
I'm attempting to build a crow that can stay upright even when its perch tilts. For that I need to have some single axis hinges (not u-joints). I'm using 3mm rod for my internal supports and am ...
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How to design a representative drive cycle based on speed, acceleration, and torque requirements?
I recently came across the topic of "drive cycle design". I would like to learn more about this as I delve into motor and RC vehicle design.
Given: the RC vehicle must achieve 25mph max/...
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Why aren't more bipedal (or even quadruped) robots made with joints/articulations similar with those found on atmospheric deep dive suits?
The sole reason I'm making this question is due to the fact that such joints/articulations would allow the electric motors to continuously move while the walking motion is performed, instead of the ...
Ben♦
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Mechanism to oscillate a human leg? [closed]
I'm working on creating a robotic device capable of oscillating an adult human leg using the knee as pivot, being able to constrain the amplitude of oscillation by controlling the mechanism with a ...
Ben♦
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Why do Mars rovers designers prefer wheels over tracks?
Typically Mars rovers use wheels and not tracks. I guess Spirit would have better chances getting out of that soft soil should it have tracks. In general, Mars surface structure is not known in ...
Ben♦
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Heavy omnidirectional platform suspension
I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid ...
Ben♦
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1
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Rocker bogie suspension stability
From the designs usually shown of rocker bogie systems, the whole weight of platform seems to be supported by only one rod, be it differential bar or gear. Isn't this a bit unstable system because if ...
Ben♦
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What are the pros and cons of Zip Chain Actuators in robotics? [closed]
Well, I just found out about these Zipper Chain Linear Actuators, but I couldn't find much information comparing these types to other types of actuators.
For example, what is the performance of Zip ...
Ben♦
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Create 2 CAD files
I found CAD files for the Create on the ROS TurleBot download page (.zip),
and shells on the gazebo sim page.
Any ideas where the files for the Create 2 could be found?
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Reducing stress on servo axle
I am designing an articulated robot arm that will not need to hold essentially any weight at its end, but that will need to perform thousands of repetitions (currently using MG 996R servos, but might ...
CommunityBot
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How to add precise amounts of ingredients in my beverage making robot? [closed]
I am currently in the process of making a robot that can make a cup of tea, when It receives the command to do so. The general idea is as follows:
checks if saucepan is placed
checks if milk is ...
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Calculating the efficiency of Mecanum wheels
I'm part of a FIRST Robotics team, and we're looking into using Mecanum wheels for our robot.
What are the advantages and disadvantages of using Mecanum wheel versus regular ones? From looking ...
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How to perform decoupling between decision making and action execution in ROS2?
Hi I'm making a robot using:
ros2 foxy
OS Ubuntu Linux 20.04.2 LTS (Focal Fossa).
Linux 5.8.0-59-generic
I built an Action based on the tutorial Building an Action Server and Client. Then expanded ...
CommunityBot
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How to calculate DH parameters for Higher Pair?
I am trying to build a robot which is having Bevel Gears connecting two links. I want to calculate DH parameters, but i am stuck with this bevel gear as when the joint rotates both angle and ...
CommunityBot
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I would like to add a prismatic joint to the Z axis of the 6th joint of Urdf
I have a urdf file,urdf of UR5 robot and added a prismatic joint to the end of 6th joint of the robot with the "prismatic_joint" tag (By copying other joints and links)
...
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Autonomous vessel general design
I have been asking a couple of questions here and around on autonomous boats and finally I decided to post the design and gather some feedback.
The idea is to build a small vessel capable of advanced ...
Ben♦
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1
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Significance of tf2_ros::TransformListener in constructors
Is there a reason that a lot of constructors in ROS based code take in tf2_ros::TransformListener as one of the input? I want to get an idea from the design ...
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Choosing the right dimensions for an underwater glider
I'm looking to potentially build an underwater glider, a type of submarine that's slow but can operate on extremely low power draw. However, in order for it to work effectively I've found several ...
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Attaching an optical rotary encoder to a bicycle wheel
I am currently working on a Sixth-Form experimental physics project, the end goal of which is to build a simplified Malkus Waterwheel, and to see whether chaotic synchronization can be achieved ...
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Recommended building materials for building a robot WITHOUT 3D printer?
I have a ton of ideas for building a robot using an arduino and raspberry pi. I have an assembled the wheels and chassis, and now I am left with an ugly raspberry pi and arduino + wires. It works, but ...
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How do I select the best configuration for a known workspace, load and task?
Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
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Deduce all possible configuration for a given CONF param FANUC
I am working on the "CONF" parameter of FANUC Robots.
The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
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Is there a tool for building and analysing robots (kinematics, control) visually?
I am reading research papers about robotics and many of them follow the same pattern:
some construction is established
kinematical formulas are read from the mechanical structure
the state space is ...
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Why are Mars rovers so slow?
Mars rovers are typically very slow. Curiosity, for example, has average speed of about 30 meters per hour.
Why is it designed so slow? Is it because of some specific power restrictions or for other ...
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Compensator design
I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands:
Settling time : max 2s
Overshoot : max %35
Gain margin : min 10 dB
Phase margin : min 30 deg
...
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How to design a robot chassis so as to avoid bending issues?
I'm good on the programming, control systems and electronics aspect of robotics, but need help with a problem with mechanical design.
How do I avoid bending of my chassis due to weight?
It is a 2 ...
CommunityBot
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What is the best to track an object and its relative position in field?
I understand this is very conceptual. I am working on a system when I am trying to track the path taken by an object as it moves across a field. Imagine a maze built on roughly the size of a football ...
CommunityBot
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1
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How to find a solution for quadcopter PID control
I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels ...
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Natural frequency of robot arm
I want to design a 3 DOF pick and place robotic arm. I've accomplished stress analysis. now i'm going to do frequency analysis. software give me natural frequencies in different configurations. but i ...
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Differential Drive Tricycle WMR with active caster wheel
I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
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Counterweight in arm designs
I wonder why most robotic arms use large J2 (shoulder) motors rather than counterweights. What sort of complexity do they add to the design beside increase in overall weight? In fact, rather than ...
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Proper robotic competitions for one university team (first step) [closed]
I am Bioengineering student at one Iranian middle-rank university and have a small business in building some easy medical devices (PCB and CAD designing with Programming and some market experiments). ...
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Path finding: A* vs Fast marching
Context: I am working on a 20 cm x 20 cm indoor robot on a 2D terrain and I need to decide on its path planning algorithm.
Algorithms: A* and Fast marching are two popular (and fundamentally ...
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825
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differences between SCARA arm design
I am currently interested in SCARA arm designs and I have few, beginner questions for which I didn't find answers yet.
1/ While comparing professional arms (made by epson, staubli...) I noticed that ...
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How do I motorize the elbow socket and other joints in a powered exo-skeleton?
How would you motorize the joints in an Iron Man suit? You need something fairly shallow, I would think, probably dual servos sitting on either side of an elbow or knee joint or either side of your ...
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What should be the ideal ratio for link lengths ( L1/ L2) of a 2 link manipuator robot with revolute joints?
I am working on making a CAD model of a two link robotic manipulator, with link lengths around 15-20 cm. I am unable to figure how to set their mutual ratio and I want to know whether there is some ...
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Increasing suction force
I'm trying to increase the suction force of the end effector in a pick and place system. Is it a good idea to add an extra vacuum pump and put it in parallel? AFAIK, having an extra pump in parallel ...
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How does this end effector work?
I've seen this linear actuator end effector on a few industrial SCARA 'bots but I am having trouble visualizing how it works internally:
It looks like a type of lead screw, but the nut must spin ...
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