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Hexapod Grip Arm

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Revision as of 20:33, 20 November 2018 by Vorpalwiki (talk | contribs)

UNDER CONSTRUCTION

This page is currently in a DRAFT state. Do not attempt to build the Grip Arm project yet using these instructions.

What is the Hexapod Grip Arm?

The Hexapod Grip Arm is an open source 3D printed project that provides an arm with a claw end-effector. It's designed for [Vorpal The Hexapod] and will plug right into the accessory port for that project. It could easily be used with other robotics projects as well.

What are the Capabilities of the Grip Arm?

The Grip Arm can:

  • Raise and lower the claw end-effector. When attached to Vorpal The Hexapod, the claw can be lowered almost to ground level (about 2.5 centimeters or 1 inch) or it can be raised to about the top of the robot's cap.
  • Open and close the claw. The claw can grasp objects up to about 5 centimeters (2 inches) in diameter.
  • The Grip Arm can safely lift objects of up to about 120 grams (4.5 ounces).
  • The Grip Arm is designed so that the claw remains approximately level as it raises and lowers.

The Grip Arm is intended to be used with Vorpal The Hexapod for activities and games, not to lift heavy objects.

Photo Gallery

Bill of Materials (BOM)

A complete kit is available from The Vorpal Robotics Store

BOM:

  • 1 x Tower Pro MG90S servo. Used to lift the arm, metal gear servo required. The Vorpal Brand MG90 Servo is optimized for this kind of project.
  • 1 x Tower Pro SG90 servo. This is a plastic gear servo used to open and close the claw.
  • 2 x servo extension wires (M-F) 10cm length or longer.
  • 4 x nylon spacers 1/4" long, 1/4" outer diameter with center hole for #6 screw. These are used as bearings for moving parts.
  • 4 x #6-32 by 1/2" long button head socket screws.

3D Printed Parts

  • See Thingiverse for STL files to 3D print the Grip Arm parts

Assembly Instructions

STEP 1: Flashing The Robot Control Program

To control the Grip Arm using your gamepad, you will need a new version of the robot code. This code needs to be installed before you start to build the Grip Arm, because you'll need it to adjust the servos and install the servo horns in the right orientation.

If you bought a robot kit from Vorpal Robotics after December 1, 2018, then your robot already has the new version of code that supports the Grip Arm.

If you self-sourced parts, or bought from us before December 1, 2018, then you need to follow instructions to flash the new robot code. The instructions to do this are here: Flashing the Robot Code


License

The Hexapod Grip Arm is licensed under the Creative Commons Attribution-ShareAlike International 4.0 license.