Spent time finishing up the preload mechanism for the gearbox, as well as printing and fitting revised gearboxes that wont spin in place with high torque loads!
Spent time today working on connection between the yaw mechanism and the base after 3d printing revealed even more flaws, and started working on a preloading mechanism for my gearboxes to reduce backlash and increase precision (shoulda done it from rip but better late than never)
primarily added a little rail for support because of excess load on gearbox due to extreme weight unbalance due to the weight of my motor setup, easy little fix, also some small little changes like skeletonizing motor mount on this segment,
Spent time around the arm printing, changing dimensions to match spec, and editing connector for better meshing
Very minor devlog had a lot of things today, did some revisions to clearances, shifted support distance on my yaw axis connector, as well as ruggedizing (is that a word?) my planetary gearboxes to hopefully resist torques on it better!
spent today doing revisions throughout the arm, starting with increased clearances in the parallel gripper dovetail linear rail (buzzwords I know), adding material in suspected and tested areas that have cracked in the real world print (the filament I ordered is here!), and finally small revisions to the control app to increase usability as well as updated DH offsets for the boring but working marker mount!!
Did some minor modeling tasks, like making a base for the arm, starting prints for prototyping because I decided to order my own filament (stardance funding is taking forever!!), made a base for securing the arm to ground, and spending alot of time cleaning up the github repo and giving it a remade readme for clarity, as well as a updated BOM for stardance to hopefully fund! Also verified new electronics setup still works totally and nots shorting out (thanks electricians tape!).
Added output to my psu, wired in buck converter, adjusted for correct output (5v) from my psu (24v), everything working other than 2/5 of my buck converters being faulty!
Spent time today working out a electronics housing, DH offset for parallel gripper, and added a simple marker gripper for POSCA markers for the arm demo, as well as bug fixes for control program **reminder all code written by either sonnet 5 or opus 4.8!
spent time today working on control of the gripper, decided on a separate microcontroller, a arduino nano, because of flash limits on the uno with gcobos/grbl4axis using like 97 percent of the memory on board!, using a separate COM connection with the app seems to work well, with built in PCA9685 detection. Also did a small amount of work on a case for all the electronics!
Finalized parallel gripper limit design, finally figured out how fusion fasteners worked (actually really easy!), Fixed E axis, and updated software for motion tuning!
Spent time today doing chores really in the cad files, like renaming all bodies and sketches to match their purpose for once, and also begin implementation of a sliding lock mechanism for the racks integrated into the parallel gripper!
Today I split time between getting my demo idea of the arm writing a word (suggestions for that?), getting a gripper design I actually like, and the tpu sleeves for said gripper. Stay tuned for more!
Today spent time editing cad models, starting design on a new gripper because the old one left a lot to be desired, and did more work on the arm’s demo once built! stay tuned
Updated control app with many things, biggest being pathing to different point smoothly, unfortunately live control of the arm via human is going to be an issue, fork of grbl I am using is limited by buffer, however pre-planned paths run smoothly enough hopefully, cant wait to get everything working on a real arm, just waiting on funding to hit (I’m out of filament :() **NOTE all code written by either sonnet 5 or opus 4.8
Working on control program for the arm! I have a custom ik and forward kinematic solver coupled with a gcode sender in order to send commands to a arduino uno running a fork of grbl, gcobos/grbl4axis! (what being special about it is using the A axis as another motor rather than extruder/ spindle) I was able to get all axis working (other than A but thats due to a faulty arduino D13 pin not working), all up on github!(NOTE** all code written by claude sonnet 5)
Spent time working on dh table parameters for inverse kinematics solving, anybody have good ideas for software to simulate the arm? Thanks!
Ok really tough session. After tons of testing several hours of debugging the A axis on my cnc shield wouldnt work, it wasnt the driver, socket, wire, or stepper, in the end I concluded that the arduino itself was faulty after many tests, I’m ordering a new one, but on the upside I did get a wiring diagram done!
Final fork support for wrist, started working on dimensions for inverse kinematics equations
Clearances for 3d printing, redimensioning base, and supporting joints to take pressure off of planetary gearboxes using a clevis fork like design off of bikes
also suggestions for the background color of the next render?
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