Well, as you can see, I've started with the arm. This puppy has reduction gears, driven by a stepper motor. I'm planning to power the forearm with metal gear servos. Of course with slight modifications to the segment ratios, this is also going to be the legs of my robot.
I need more steppers and drivers, which are on order. This prototype is a result of several months of work, and almost 3 kg of plastic was used, in trial and error, before this stage has been reached.
Right now, all points of rotation are fitted with plastic printed bearings, but I've got some steel 26x17x5mm bearings coming from China. Not sure if they will be needed, since everything runs rather smoothly with the plastic bearings. Just some grease would make things run like silk.
Maybe it will help me clean up my room.
By request of Dany here's a video of it being run off my TOM's motor controller. Excuse the scruffy attire and lack of grooming. ;-)
Comments
Very nice!
What 3D printer are you using?
Hey Maxime, it's very painful to were it as an exoskeleton. ;-)
Beside the Nema 17 steppers have very little torque. I'm using 8:1 reduction to get enough torque so that the motors can move the arm. I'm happy if it can move itself, let alone me.
On your photo that looks like an exoskeleton !
How nice Ellison! Thank you for sharing the project.
Now clean up your room....wait...don't look in my shop.
-=Doug
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