Re: 5-DOF arm

In lugnet.robotics, dan miller <[email protected]> wrote:
> Hi everyone --
>
> I have recently completed my Nth version of a 5-DOF arm plus claw.  Finally,
> I am guardedly happy with the result.  I think it's about as minimalist as
> such a thing can be; it's much smaller than models with similar capability
> I've seen on the web (cyberarm III and IV, for instance).  The design is
> somewhat novel, with all of the heavy motors concentrated near the shoulder.
>  Instead of wrist flexion, I went for shoulder rotation; I claim this is a
> more suitable approach for most applications.  In particular, a simple
> wheeled base would provide the missing 6th degree of freedom, allowing a
> vehicle with an arm to have access to any 3D position and angle of approach.
>
> It can pick up things on the order of a 9-volt battery, or small Lego
> assemblages, without any trouble.  It uses 4 standard geared motors and 2
> micro-motors.  I decided to use a few cable ties and a touch of glue on the
> claw assembly to keep it from breaking apart when lifting heavier objects,
> but I suspect a good Lego-meister could improve the design enough to make it
> sturdy without any non-lego parts or other impurities.  It worked OK on
> lighter objects in its original form, but I got tired of putting it back
> together after tests.  I also cut one piece to make a 9x2 plate.
>
> If anyone is interested, I will take some pictures and post them somewhere.
>
> -dbm

I would like to see some pictures.

Thanks,
Kev