Goose V1: Mechanical Robot Arm
Note: This project is still under development and I intend to post a full article detailing my mechanical, electronic and software design when the project is finished. At the moment, I am working on software: simultaneous motor acceleration algorithm, inverse kinematics, serial communication commands to drive/jog joints, GUI for control, and an application in chess-playing
An entirely 3D-printed mechanical robot arm.
Gallery
Homing and Wave. Demonstrates limit switch procedure and constant speed forward kinematics.
Goose is also an over-engineered desk cleaner. He never gets tired and never complains!
He is also learning to pick up objects. Once the inverse kinematics and path-planning algorithms of this project are more robust, I intend to teach Goose chess so he can beat anyone he faces.
The gripper features a 35KG 5V servo, rack and gear mechanism to drive fingers guided by 3mm rods.
Here is a brief test of how the gripper works with a small screwdriver.
The forearm features bearings (in light blue) to hold the gripper assembly, M3 threaded inserts (in yellow) to join the large part of the forearm to the small part, a HTD 5M pulley transmission system that links the NEMA 17 wrist motor + reducer) to the pulley on the wrist, and a limit switch for wrist homing.
The bicep section cut features similar properties: a limit switch for the elbow, a NEMA 23 motor + cycloidal gearbox, a HTD 5M belt that wraps around a set of pulleys and connects to the forearm assembly. It also features threaded inserts that aren't shown.
The shoulder features a thicker 15mm HTD 5m belt to prevent belt stretching, as seen below.
The limit switch for the shoulder joint is housed inside the shoulder.
The unity shaft connects the shoulder to the base, and is fastened by several M3 screws
Here is a view of the bottom. Here you can see the swivel limit switch.
The swivel belt is tensioned by two idlers, as you can see below
That is all for now. Stay tuned for more Goose content in the coming weeks as I continue to make progress. Thanks for looking.