Questions tagged [mechanism]

A mechanism is a device designed to transform input forces and movement into a desired set of output forces and the movement.

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106 views

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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34 views

Jacobian for transformation of rotation angles

It is known that with the help of the Jacobi matrix it is possible to transform the angular velocities of the drive links $\boldsymbol{\omega}$ into the angular velocity of the platform $\boldsymbol{\...
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2answers
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How to choose a servo motor for solar tracking mechanism?

I design a solar tracking mechanisim. You can see the very undetailed representation in the pic. For choosing a servo motor how can I calculate the torque etc?
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1k views

How does the Makeblock threaded slot work?

I've been looking into a Makeblock robotics kit but have found no information on the web that comes from end-users, and one of the main advertised features is not clear to me: The slot threads shown ...
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1answer
196 views

Controlling Actuated Robot Hand in Underactuated Manner

We have an allegro hand in our robot, and it is in actuated behavior. In other words, each joint is controlled one or more than one actuator, that is motor. There are 3 actuators for each finger, ...
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119 views

How to turn direction of 4 planar wheels into up/down motion?

For the head in a 2D plotter I have 4 gears in an X configuration in the same plane. The gears are driven by belts from the outside in different combinations. The top and bottom gear can be turned in ...
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Spherical Parallel Manipulator Lagrangian problem

I faced a very serious problem and I urgently need the help of specialists in robotics, mechanics, physics and mathematics. I am trying to derive equations of motion from the Lagrangian of a spherical ...
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13 views

Cartesian Stiffness Matrix and Complieance Matrix of Spherical Parallel Manipulator

In the article https://www.sciencedirect.com/science/article/abs/pii/S0094114X14000020, I came across the construction of a Cartesian stiffness matrix. On page 14 I see the components of the moments ...
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What should be my spray handle-servo interface for pull mechanism? [closed]

I am an electronics engineering student who recently started working on Arduino. As part of my efforts to wake up on time, I decided that I should make an automatic water spray alarm clock. I have all ...
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23 views

Why isn’t my shaft moving? [duplicate]

When I put my shaft through the vehicle body (small robot) and have the motor attached to it through two rotating gears, the shaft isn’t rotating? I think it’s due to how the hole diameter is the same ...
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2answers
939 views

Different methods to determine DOF: Chebychev-Kutzbach-Grubler method vs. Screw method

I'm familiar with Chebychev-Kutzbach-Grubler method to determine degree of freedom of a robot arm. But it seems this method fails to calculate the mobility of some parallel robots, as explained here. ...
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2answers
667 views

How do I calculate the direction robot is facing, pose from velocity and yaw rate?

I have a simple car robot with four wheels moving relatively slowly (5~10 mph). The robot has a velocity magnitude and yaw rate sensor and the sensor samples about every 0.1 seconds. I want to map the ...
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34 views

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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2answers
78 views

Why do we say a robotic arm have 2 dof even though the two joints rotates along the same axis?

Why do we say a robotic arm has 2 degrees of freedom even though the two joints rotate along the same axis? Why isn't it called a 1 dof robot?
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1answer
82 views

What is the most accurate method to calculate Torque of 5 DOF Robotic arm

I am working for development of a 5 DOF Robotic arm , and I am confused in the Torque calculation This is a 5 Axis revolute Joints Robotic arm , where Motor for 1st axis will rotate the turning table ...
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1answer
29 views

Motorised steering without shock absorber?

I was looking up on the Curiosity Mars Rover and noticed that the steering appears to be driven by a (geared) stepper: I presume the drive contains a worm gear to reduce power consumption of the ...
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1answer
103 views

Simulation of Robotic arm

I want to simulate my 5 DOF robotic arm, in such a way that the calculated Torque and mass values of each joints (Servos) defined to be tested that are they capable of physically bear all the weight ...
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1answer
4k views

12V compressor and air pressure control

I am trying to make a simple robot with few functionality for someone, one of these functionality is inflating a balloon inside the robot, I know how to control a compressor using Arduino but the ...
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3answers
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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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28 views

How to create a jumping mechanism for a small robotic car?

I have to create a jumping mechanism for a small robotic car and was thinking about using a spring mechanism to do so. However, due to dimensions (16cmx8cm) and mass constraints (below 200g) I cannot ...
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35 views

What sort of robot would one use to tie precise knots in a string?

I need many knots tied repetitively and consistently in a string. I have been trying to make something which ties knots for me in a consistent manner. I've got a project which requires a few hundred ...
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1answer
129 views

Rotating a lever with a small servo

I'm trying to rotate a lever link to gently "offload" a load using a servo. Here's a drawing: Here, the red is a lever, yellow pivot and black is the load. To offload, the lever needs to be turned 90 ...
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2answers
203 views

How to seal a threaded rod so I won't lose oil?

I have an M5 threaded rod that penetrates a box. Outside it is driven by a motor and it rotates a part inside the box. The box is sealed and I would like to seal the area around the rod as well. I ...
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1answer
100 views

Wall-E Legs mechanism

I was trying to understand the mechanism of Wall-E's Legs from the Wall-E 3D animation movie of Pixar Animation Studios, how he is able to move up and down and move the tracks on all directions. Can ...
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1answer
66 views

Why are the angular velocities of concentrated masses in Lagrangian independent?

There is an ordinary linear three-mass system. If we write its Lagrangian, we get the following equation. where $W_k$ and $W_n$ - kinetic and potential energy. To find the moment of rotation of the ...
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2answers
68 views

Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

I want to develop a dynamic model of a parallel robot for control tasks. It is known that equations of motion based on Lagrange equations can be transformed into a state space and use such a model. ...
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26 views

How to make small quantities of gears

For a hobby project, I'm designing a clock with a single hand that makes one revolution per year. Using really helpful sites like https://geargenerator.com/, I have the gear ratios and dimensions ...
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1answer
106 views

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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32 views

How to use thrust bearing with shaft?

I know how to use radial bearings, e.g. ball bearings with shaft. But no matter how much I googled I didn't find any proper clear way to use thrust/axial bearing with shaft. I downloaded the thrust ...
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1answer
440 views

Selection of motor and Calculating the torque for 6DOF robot Arm

I am trying to select the motor for a robot arm with six degrees of the freedom robot arm. What should I do to select the motors and which type of motor I should select?
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40 views

What should i do to rebuild robot salto from Berkeley uni as a mechanical engineering undergrad?

What are the main components of robot salto? What are the necessary skills and knowledges to reproduce it? Also as you can see, i am a mecheng and i want to reproduce this robot as finishing project ...
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1answer
57 views

Robot mechanism parts names

I'm working on my first "robotic" project that involves a square platform that should drop one of the four sides at a time. ...
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1answer
77 views

High power jumping mechanism in small robots

I recently saw this video on YouTube featuring a jumping robot: 5 Fastest Robots In The World I was curious how this is accomplished mechanically? Do they wind a strong spring or use some sort of air ...
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1answer
35 views

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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1answer
20 views

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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1answer
712 views

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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1answer
88 views

Rotating two things on the same axis

I'm working on a project where I want two separate shafts to be in the same place. Think of it like a clock where the hour and minute hands move independently. Also like a clock, I want the motors and ...
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1answer
233 views

What is the front mechanism of this robot's track called?

What is the mechanism on the front of the tracks of this robot called? They are also tracks, but they are able to be moved by the operator, and they are able to function as tracks. I've only seen ...
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1answer
35 views

Pnumatic sulinoid with multiple outputs

I can't figure out what solenoid I would use. Everything I search for comes up with cylinders. Not sure if it's even a sulinoid that I need. I'd like to have 8 hoses connected to a compressor. I'd ...
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1answer
83 views

Can somebody explain how these forward kinematics matrix equations were formulaed?

Here's the link to the entire answer: Designing a 5 bar linkage robot: Plot Clock
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1answer
138 views

DC geared motors or leadscrew and motor for joints

I'm trying to build a quadruped robot. I studied dynamics and to get an idea, I read and watched papers and videos related to robots like ALof and StarlETH and some more. But since this is my first ...
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1answer
4k views

How to link ends of timing belt into loop

When I buy some length of timing belt I don't know how to link ends of timing belt into loop. So far I've found one way to do that (thanks to http://www.lasersaur.com/): http://www.flickr.com/photos/...
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1answer
250 views

How do I achieve this? Grid of dowels powered by piston-like movement

I am completely new to this site and robotics, but I have experience in programming, and programming microcontrollers. I would like to create a grid of "pixels", where each "pixel" is a metal or ...
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0answers
446 views

Advice on mounting a servo for a nerf sentry gun

I am trying to make a nerf sentry gun to shoot my co workers. I am building it more or less from scratch and have come to the part where I need to come up with plans to assemble it. I am looking for ...
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1answer
90 views

I need the scheme of Irobot creator 2 [closed]

I've tried to drill a number of holes in Irobot. I've missed one of them and I need the electronic scheme of Irobot-Creator 2 for trying to restore this input of the data cable. Can you help me with ...
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1answer
55 views

How to transfer motion between these two parts?

I'm trying to model this arm and I'm having a problem knowing what way could I use to make the red part always parallel to the surface of the table
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1answer
33 views

Sliding system basic question

I have a basic question. Imagine a plate, with a hole drilled in each corner. Imagine 4 shafts in these 4 holes,attached to another plate. Intuition tells me that it would take considerable effort ...
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1answer
29 views

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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1answer
140 views

Linear actuator for impact tests [closed]

I'm puzzling over the remake of an impact testing machine. It's a sort of a robot arm that pushes a probe against a target to test its characteristics. Right now the machine use air pistons, because ...
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2answers
378 views

What is the correct name for "servo brackets"?

I refer to these types of brackets as servo brackets, or robot brackets: I know that the two specific brackets, shown above, are known as a short-U (some vendors refer to them as "C", en lieu of "U") ...