The robot has two arms, each with 4 degrees of freedom. The arms are attached to a torso which is mounted on an existing mobile platform. The gripper is a simple one with two fingers. The project is still in progress and I am still working on the electronics part.
The mobile platform can be found on the link, http://www.lynxmotion.com/c-119-auton-combo-kit.aspx .
I will soon add more pictures to make the assemble clearer.
Nothing special about the print. No rafts needed. Use support, especially for the parts of the arm.
Parts for the torso,
1 x TorsoBase
1 x TorsoTop
1 x TorsoFront
2 x TorsoSide
I have used Acrylic sheets for these parts as it is faster and easier to make these parts using conventional machining than 3D printing. I used laser-cutting.
I have also designed another Torso for 3D printing, called Base, but I have not got a chance to print it.
Parts for one arm,
1 x Shoulder
1 x UpperArm
1 x ForeArm
4 x Servo horns, https://www.servocity.com/html/146sh_wheel_arm.html#.Vlh-73arQgs
1 x HS-755HB servo motor, https://www.servocity.com/html/hs-755hb_1_4_scale.html#.Vli-sXarQgs
1 x HS-645MG servo motor, https://www.servocity.com/html/hs-645mg_ultra_torque.html#.Vli-x3arQgs
1 x HS-485 HB servo motor, https://www.servocity.com/html/hs-485hb_servo.html#.Vli-53arQgs
2 x HS-422 servo motor, https://www.servocity.com/html/hs-422_super_sport_.html#.Vli_DHarQgs
Parts for gripper,
1 x GripperBase
1 x GripperTop
1 x GripperPin
2 x GripperLink1
2 x GripperLink2
2 x GripperLink3
1 x Servo horn
1 x HS422 servo motor
Step 1: Drill holes of required sizes in the servo horns and each parts where the servo is to be mounted. I have used M2 screws and the required drill bits.
Step 2: Attach the servo horns to each of the parts using screws. Use the holes on the circumference. Ensure that there is no play between the par and the servo horn.
Step 3: Attached the motors at the location shown in the figure 1.
Step 4: Assemble all the parts together. Add a screw in the center of each of the motors, through the Part and the servo horn.
The final Arm assembly is shown n figures 3 and 4.
Figure 1. Location of motors
Figure 2. Attaching servo, servo horn and the printed parts
Figure 3. Arm Assembly
Figure 4. Arm Assembly
Step 1: Drill holes in the pins and the Gripper base of required sizes. I have used M2 screws and the required drill bits.
Step 2: Attach the servo motor from the bottom and the pin form the top on the GripperBase.
Step 3: Attach GripperLink1 to the servo horn and attach the horn on the motor.
Step 4: Insert another GripperLink1 in the protrusion on the smaller side of the GripperTop and 1 GripperLink3 in the two protrusions on each side of the longer side.
Step 5: Place the GripperTop with the links on the GripperBase.
Step 6: Fix the GripperLink2 in between the GripperLink1 and GripperLink3 using nuts and bolts. Use bolts of smaller sizes than that of the holes to ensure that the parts rotate freely over the bolt. I am still working on the design of the links and I would be happy to have your feerbak and suggestions.
Step 1: Attach the arms in the arms in the TorsoSide.
Step 2: Attach the parts in the order, Sides on the two sides of the base,the top and then the front in the end. Glue the parts for additional strength.