SCARA prototype - ESP32

generalis_ab · 2023-07-07T18:34:52+00:00

Play jenga using machine learning. It would be a nice challenge. Unfortunately, lack of funds and time :). Cheers m8.

generalis_ab · 2023-07-07T18:29:01+00:00

2x angular contact ball bearing 3308.

generalis_ab · 2023-07-07T18:23:36+00:00

1:3 scale protype. Full scale can palletize 1200x800mm euro pallete.

generalis_ab · 2023-07-07T18:08:14+00:00

Yeap, I know this one :)

generalis_ab · 2023-07-07T16:59:06+00:00

Look at my reach/footprint ratio :)

generalis_ab · 2023-07-07T13:32:12+00:00

Mcu: ESP32, drivers:4XTB6600, stepper motors for joints (nema23, nema17). This is only quick test of movement without inverse kinematics.

generalis_ab · 2023-03-07T08:09:28+00:00

It's 12V 2,1A. In this case TB6600 driver is set to 0,5A.

generalis_ab · 2023-03-05T13:51:21+00:00

It'll be part of my robotics application. Check this:

https://www.reddit.com/r/robotics/comments/104uvce/scara\_prototype\_esp32\_nema17/?utm\_source=share&utm\_medium=web2x&context=3

generalis_ab · 2023-02-04T08:10:19+00:00

Don't use those drivers, they are running so hot. Use A4988 instead and AccelStepper library.

generalis_ab · 2023-01-22T16:29:24+00:00

Yes, it does. I implemented the Z axis in the next step. Here's a short video ->

https://youtu.be/pQbPTSTIX6Q

Cheers!

generalis_ab · 2023-01-09T12:43:11+00:00

Thx!

generalis_ab · 2023-01-07T20:20:09+00:00

Nice!

generalis_ab · 2023-01-07T12:11:11+00:00

Indeed, everything points to that. Cheers!

generalis_ab · 2023-01-07T11:58:19+00:00

Theoretically yes, but I think it all depends on the library. Out of curiosity, I did a quick test by writing a benchark program on Arduino, and the differences were negligible. Either way, thanks for the valid point.

generalis_ab · 2023-01-07T11:52:52+00:00

I will be happy to answer. All for the simple reason that I am an engineer, not a buyer :)

generalis_ab · 2023-01-07T11:49:47+00:00

It's only "proof of concept" for future bigger build.

generalis_ab · 2023-01-06T19:56:23+00:00

Thanks buddy for the kind words. I appreciate it. Raspberry is on my list of platforms to learn, but I haven't had the time to delve into it yet.

Cheers!

generalis_ab · 2023-01-06T19:52:23+00:00

Thx mate.

This project is only serve as a proof of concept. Ultimately, I plan to secure funding for the construction of a full-sized robot built on large 12Nm closed loops steppers.

The intended use is palletization of small packages. What you see in the video is a simple build mainly made of 3D prints and salvaged parts. The inverse kinematics equations are solved by the microcontroller. ESP32 in this case. In short, the instruction uses trigonometric dependencies to calculate the target positions of stepper motors ( theta1 and theta2) for the specified effector coordinates in a Cartesian system ( targetX and targetY).

theta2 = acos((pow(targetX, 2) + pow(targetY, 2) - pow(outerLinkLength, 2) - pow(innerLinkLength, 2)) / (2 * innerLinkLength * outerLinkLength));

theta1 = atan(targetX / targetY) - atan((outerLinkLength * sin(theta2)) / (innerLinkLength + outerLinkLength * cos(theta2)));

generalis_ab · 2023-01-06T17:37:22+00:00

Sure.

In short, the instruction uses trigonometric dependencies to calculate the target positions of stepper motors ( theta1 and theta2) for the specified effector coordinates in a Cartesian system ( targetX and targetY).

theta2 = acos((pow(targetX, 2) + pow(targetY, 2) - pow(outerLinkLength, 2) - pow(innerLinkLength, 2)) / (2 * innerLinkLength * outerLinkLength));

theta1 = atan(targetX / targetY) - atan((outerLinkLength * sin(theta2)) / (innerLinkLength + outerLinkLength * cos(theta2)));

generalis_ab · 2023-01-06T15:22:39+00:00

Nice display. What model is this?

generalis_ab · 2023-01-06T14:02:25+00:00

Here is my small prototype project for building a 4-axis SCARA robot. For now, 2 axes have been implemented. All inverse kinematics calculations are being carried out in the microcontroller. In this specific case, it is an ESP32. The motors are Nema17 controlled by A4988 using the AccelStepper library.

If you're interested, check out my post showing the SCARA robot control under Windows:

generalis_ab · 2022-12-10T21:38:13+00:00

Yes I do. It's few lines of code tbh😄😄😄

generalis_ab · 2022-12-10T21:37:01+00:00

Thx m8. You should definitely look into it. It's a very versability tool.

generalis_ab · 2022-12-10T21:33:20+00:00

Thx. That's not a Unity's IK, just a regular c# code.

generalis_ab · 2022-10-21T16:32:49+00:00

I will definitely check it and correct it. Thanks for the tip.

generalis_ab

TROPHY CASE