Painting Robot

Last crawled date: 4 years, 3 months ago

This is my 7 DOF Robot, the second program for painting walls, the first program is for making juice, the Robot is able to lift 1.2 KG, and it is programmable by 7 Arduinoes,
It`s been made by one person, It has cost me four hard working years and 12000$ of money, designing, manufacturing, programming, funding, despite of my country hard conditions. its a programmable robot able to lift and control 1.2 kg independently in a work space of 4 cubic meters, controlled by nine arduinos, I designed his program to make a juice within six minutes and ten seconds, its also programmable to make other works like packaging, welding, painting, drilling, cooking, etc. This homemade robot consists of seven degrees of freedom (7 DOF ), 1- the shoulder; which I call it Z1 in relative to the gripper set, its torque is 150 Kg.cm
2- Z2 ; or the elbow, its torque is 45 Kg.cm 3- Y axis; which drives the elbow in Y axis, its torque is 91 Kg.cm
4-X axis; which rotates the elbow in x axis; it`s torque is 11 Kg.cm
5- Z3 , which drives the wrist up and down, 10 Kg.cm
6-the gripper , 2* 2.5 Kg.cm
7-the torso actuator. 39 Kg.cm .
Actually this robot design is the yield of four years of searching, designing, testing parts, and about six designs of robotic arms earlier to this one, in this final design, I put all the knowledge and expertise I got from my models and the continuous modifications and improvements throughout days and months of hard work and think, despite of the shortage of expertise and resources in this field in my home country.
Parts used : stepper motors from old copy machines, servos, L298n modules drivers, arduino uno, arduino Mega, variety of batteries and power suppliers, relays, circuit boards, etc.....