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Five Bar Parallel Robot - Janus Jr

Janus Jr is a small five-bar parallel robot designed to work with brushless motors, ESP32 (Arduino IDE) and 3D printed parts.

david-gonzalezDavid Gonzalez
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3.2k views
4 comments
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  • Description
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  • Files 0
  • Components 6
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  • Logs 1
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  • Discussion 4
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  • david-gonzalezDavid Gonzalez

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ongoing project
Robotics Five Bar parallel robot kinematics direct drive brushless motor BLDC Motor L293 ESP32 SimpleFoc foc

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This project was created on 07/21/2020 and last updated 4 years ago.

Description

Janus Jr was developed in the Arduino IDE. It's using the SimpleFOC Arduino library for position control of the brushless motors. The ESP32 hosts a HMI which allows a user to move the end effector in the plane. The correct angular positions of the motors is calculated with the inverse kinematic model of the robot. You will be able to find everything about this robot on Github: https://github.com/byDagor/Five_Bar_Parallel_Robot-Janus_Jr
Demo video: https://youtu.be/umr-SqC9WUI

Components

  • 2 × 2206 Brushless Motor 140KV - 10.5 ohm
  • 1 × ESP32 Sparkfun Thing
  • 2 × L293 Interface and IO ICs / Peripheral Drivers and Actuators
  • 2 × AMT103 Rotary Encoder
  • 1 × Power source 5V - 2A

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Project Logs
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  • Janus Jr Brain

    David Gonzalez • 07/30/2020 at 20:35 • 0 comments

    This is the brain and power stage of the robot. You can find the schematics of the PCB in the Github repo. 

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ekaggrat singh kalsi wrote 07/23/2020 at 23:05 • point

it is using bldc motors of what type? and also what position sensor are you using? more details on this project would be great. It would make a nice drawbot

  Are you sure? yes | no

David Gonzalez wrote 07/25/2020 at 05:38 • point

I will post more details in the following days.

  Are you sure? yes | no

Dan Maloney wrote 07/22/2020 at 21:22 • point

Silly question: why are these called "five-bar" linkages when all I ever see them with is four bars?

  Are you sure? yes | no

David Gonzalez wrote 07/22/2020 at 21:28 • point

Because the distance between the motors is considered as a bar. So you have: a "fixed bar" between motors, two bars coupled directly to the motors and two bars coupled to the previously mentioned bars. :)

  Are you sure? yes | no

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