Questions tagged [design]
Mechanical, electronic or programmatic design of a robot.
148
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Design: Single or Multiple Nodes For Robot Behaviors
I have built a docking node for my GoPiGo3 robot which offers /dock and /undock services. The docking node currently goes straight to the robot hardware for the docking/undocking commands which at ...
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How to choose drives for a 6Dof manipulator with a shperical wrist
So my question I guess is tied to design or modelling(Not too sure what topic it falls under) a manipulator according to what I read in the book "Introduction to robotics:mechanics and control&...
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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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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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203
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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 ...
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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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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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2
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80
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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&...
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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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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 ...
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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 ...
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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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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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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 ...
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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 ...
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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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5
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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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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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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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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 ...
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287
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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 ...
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1
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214
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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 ...
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301
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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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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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72
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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 ...
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196
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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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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, ...
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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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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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What is the corrispettive motion convention for robotic systems with X,Y,Z axis? [closed]
We built several systems coupling multiple linear micrometric stages. I can't find a standard defining the axis convention of these kinds of systems, it there are any.
Regarding the system on the ...
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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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Block algebra and normal algebra inconsistent
I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
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Artificial Intelligence and Open source pipeline for automated design, simulation and analysis of robotics systems
I have heard about open source 3D printed robotics projects (https://www.poppy-project.org/en/ is somehow obsolete example). My question is - are there open source holistic/integrated frameworks of ...
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Design a robot that can apply hot glue to paper
I need to automate a process that involves applying hot glue to paper. I own a standard handheld hot glue gun, like this one:
Sticks of room-temperature glue are fed in the right side. Pulling the ...
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How should I create a Pangolin (Armadillo) structure?
I am new to this forum. I want to create a mechanical structure as depicted in the image A pangolin bag. And further wouls like to automate the closing and opening of the bag. But I am facing issues ...
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How can I attach an arm to a double-flat drive stepper motor?
This is my first robotics experience, outside of one class 10 years ago. I've been Googling this question for about an hour but I can't find an answer!
I'm using a ROHS Step Motor 28BYJ-48 (with an ...
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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?...
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Why can't motors be as elegant as human muscles? Why do we have to use electromagnetism to create movement?
Pretty much as the title says. Why isn't it possible to build motors as microscopically and simply as they're built in humans? Why can't we recreate electronic nerves and muscles?
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Robotic Arm Senior Capstone. Electronics/Controls/Sensors Questions
I am a mechanical engineering student currently working on my senior capstone. My team of all MechEs has to build a robotic "arm" where the arm is really just a link/bar of aluminum. The thing we ...
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Challenges involved in designing an Industrial Robotic Arm [closed]
I was wondering if any robotics engineers around would kindly, provide suggestions on the following:
I was recently hired by a company that wants to implement a robotic solution in manufacturing ...
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Ontology/marketplace of robotics components and integration environment (BPEL or CAD for robotics)?
It should be possible to take the formal description of robotics components (in form of ontology, formal API descriptions or other kind of formal specification of the capabilities and requirements of ...
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router tilting mechanism
I am trying to design a very rigid tilting mechanism for my router. For this purpose I had a look at table saws, which seem to be supported by 2 mechanisms, one in front, one at the back, called "...
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how do i select light-weight 6dof robot?
I plan to do some scientific research, after modeling and path planning for the robot, The algorithm outputs the Joint control torque(or Joint variable), and then i want to input this result to the ...
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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 ...
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Can a state matrix have a row of zeros?
While formulating a state matrix of a system, say a system of a typical cruise controller,
\begin{equation}
\begin{bmatrix}
\dot{v}
\end{bmatrix} = \begin{bmatrix} -\frac{b}{m} \end{bmatrix} \begin{...
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