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Dan k
Chen
Motion
Explorations Dan Chen / March 18, 2016

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

https://www.youtube.com/watch?v=mYdiQCTD8U4

 

Self locking mechanisms, Redesigned

Lower Join

Upper Join

IMG_4840

4833

 

http://youtu.be/NvQmAxsNpVo

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

https://youtu.be/3yyif6HlXvs

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.

 

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