Modular Robot Under-Actuated Modules (ZaMoBot) by czarama

Last crawled date: 3 years, 1 month ago

The modular robot is suitable for learning or teaching different configurations of robot manipulators. The complete modular robot Kit is composed of three main modules: Rotational module, Linear Module, and under-actuated adapters.
The under-actuated adapter modules work along with the rotational module and can create millions of configurations by variating the geometry of the module itself, combining modules you can obtain manipulators from two DoF up to six DOF.
The primary adapter (adapter for the rotational module) provides a reliable connection with the servo and housing for an encoder for closed loop control.
The free axis assembly is designed to use inexpensive standard skate roller ball bearings. Ther is no power to this element and the challenge is to balance the element using the powered axis. This part also includes housing for encoders to provide position and velocity to the controller.
-The last two elements -Momentum Wheel and Weight Holder- provide means to vary the inertia to the system. The wheel can be filled with plaster, and the elongated element can be filled with metal coins or plaster in different positions. This feature allows the system to change the dynamic conditions of the whole system and therefore the control should be modified accordingly.
The design is meant to be assembly fast and repeatedly. This feature provides flexibility to try new configurations with very short preparation period. It is intended to use standard-size hobby servo which allows lower final cost.
Besides the screws for the base and servo, the module does not require any other additional mechanical equipment; the design comes with a fast and easy printable connector.
Tags: Robot, Robotic, Robotics, Manipulator, Control, Cool Robot, Robotic Arm, Educational Robot