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• Virtual simulation and Software testing.

  Leo Vu • 06/28/2019 at 14:56 • 0 comments

  I attempted to build a simulation of the robot, and eventually the controller software in Matlab. The goal is to make all of the computations as modular as possible by using symbols from DH Parameters where possible.

  The current working modules (or functions) are:

  Generalised Forward Kinematics using DH Parameters.

  Generalised Inverse Kinematics using DH Parameters.
  

  Trajectory planning Linear and Arc (for G01 and G02 GCODE).

  Scrap GCODE parser.

  Generalised Jacobian calculation and inverse Jacobian calculation (closed form solution).
  

  The simulation uses RoboAnalyzer VRM at http://www.roboanalyzer.com/vrm-rtb.html. This helps to accelerate the testing as the graphics in Matlab is very slow.

• Joint 5 and 6 mechanical build.

  Leo Vu • 06/28/2019 at 14:44 • 0 comments

  I have worked for 3 weeks on these 2 joints hardware, most of the time doing tests on the endstops positioning as well as the length of the closed loop 2GT belts.

  Joint 6's motor is decoupling through a series of 4 2GT timing pulleys which should reduce the inertia of the whole assembly. While this setup increases the complexity of the programming, I find that the mechanical advantages far outweighs its drawbacks.

• Initial project commit

  Leo Vu • 05/21/2019 at 19:17 • 0 comments

  Uploaded some of the designs images, an introductory video and the .step file of the robot.

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