Motion

By Dan Chen, March 18, 2015

There two major mechanisms of the modular self assembling robot that I want to add motion to, the grabber and the self locking join. I decided to use the cheap and cheerful servos mechanisms to move all  the parts, they are easy to replace and attach.

 

The grabber mechanisms

I designed these robotic fingers to fit the Rubber Finger Tips for better grips.

xIMG_4822

The mechanisms is fairly simple, using 2 servos to grab and release the objects.

xIMG_4823

 

Self locking mechanisms, Redesigned

Lower Join

Upper Join

IMG_4840

4833

 

Pogo Pin contact points

Metal contact connector for pogo pins. GND, VCC, 2 signal wires. I milled the boards on Roland modela mdx-20.

IMG_4845

I glued them in position. I probably should make them a bit more flexible next time.

IMG_4846

Putting it together

The clear box allows me to see the locking mechanism in action and pogo pins in contact.

DSC01856

 

Coffee Cup Test

DSC01861

Next Version

The grabbing function could be improved by adding pressure sensors on the tip of the robotics finger or adding current sensing circuits for the servos.