Les Hall
Here we see Ivan in his current form with three segments drawing a shape. His motion is sinusoidal as we imagine a rotary toolhead with carving bit at the end of his arm. The angle of each segment is adjustable by parameterization.
Ivan Draws a Shape
A project log for Ivan the Teambuilt Robot
An e-NABLE robotics project to give hands to those without use of their hands. Designed with your help.
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haha - very resourceful!
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I'm just playing with options right now. I'll try 45 next. I'm thinking now that, see, I can generate Ivans because I have a 3D printer and some filament. It takes a few days maybe a week at most, but I can make more than one arm. So why not have one arm hold the work and another carve on it, just like a human would do? I think that the 90 degree arm is a bit much and the 22.5 degree arm is not quite enough, so yes maybe 45 on both arms. Let's see that next...
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so this is 90 degrees now, the animation on the hacker channel was about 22.5? What about 45 degrees? this way you could get a 0 - 90 degrees arm.
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my openSCAD skills aren't that good, otherwise I would try to design something that has a circular joining point on the top and bottom and a weird morphed shape....
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Ah yes, nicely described - I see what you're getting at now. Yes indeed we have just that on Ivan as he is designed now because I changed his angle to 45 degrees to see what you were saying. This illustration will help with the programming too!
Well I can't seem to paste the image here - how did you do that? But anyway Ivan does this only with a zigzag not a pure straight. I'll post the photo in a project log so you can see it.
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I'm cheating - you can add pages here on your profile site and I use one of them as a picture store - then I copied the link and it auto embedded it.
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