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| Line 70: |
Line 70: |
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| =Fabrication= | | =Fabrication= |
|
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| ==Foundation==
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|
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| ===[2] Main tubes===
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|
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| *Mark cut lines with scriber, tape measure, and combination set
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|
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| *Cut to dimensions with a torch cutter
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|
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| *Mark 1/2" dia. hole centers with scriber, tape measure, combination set, and center punch
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|
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| *Drill 1/2" dia. holes with 1/2" bit and cordless drill
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|
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| *Remove burrs around the holes with a file
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|
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| ===[2] Support tubes===
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|
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| *Mark cut lines with scriber, tape measure, and combination set
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|
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| *Cut to dimensions with a torch cutter
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|
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| *Mark 1/2" dia. hole centers with scriber, tape measure, combination set, and center punch
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|
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| *Drill 1/2" dia. holes with 1/2" bit and cordless drill
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|
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| *Remove burrs around the holes with a file
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|
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| ===[4] Raising Bars===
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|
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| *Mark cut lines with scriber, tape measure, and try-square
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|
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| *Cut to dimensions with a torch cutter
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|
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| *Mark 1/2" dia. hole centers with scriber, tape measure, combination set, and center punch
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|
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| *Drill 1/2" dia. holes with 1/2" bit and cordless drill
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|
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| *Remove burrs around the holes with a file
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|
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| *(new image TBD)
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|
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| *[[Media:Pillar.jpg]]
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| ===[1] Base Plate=== | | ===[1] Base Plate=== |
| Line 181: |
Line 139: |
| *Correct image dimensions to 10" by 6" instead | | *Correct image dimensions to 10" by 6" instead |
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| ==Gearbox 1,2==
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|
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| ===[1] Angle===
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|
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| *Mark the 1/2" dia. hole centers with a scriber, rule, try-square, and center punch
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|
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| *Mark the larger dia. hole centers with a scriber, try-square, and nipple punch; then their circumferences with a divider
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|
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| *Cut the larger dia. holes with a torch cutter
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|
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| *Drill the 1/2" dia. holes with a 1/2" bit and cordless drill
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|
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| *Remove burrs around the holes with a file
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|
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| *[[Media:BaseAngle.jpg]]
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|
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| ===[2] Input Plate===
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|
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| *Mark cut lines with scriber, rule, and try-square
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|
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| *Cut plates with appropriate dimensions with torch cutter
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|
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| *Mark the 1/2" dia. holes with a scriber, rule, try-square, and center punch
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|
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| *Mark the 2" and 3.5" dia. hole centers with a scriber, rule, try-square, and nipple punch
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|
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| *Mark the 2" and 3.5" dia. hole circumferences with a divider
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|
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| *Cut the 2" and 3.5" dia. holes with a torch cutter
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|
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| *Drill the 1/2" dia. holes with a 1/2" bit and cordless drill
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|
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| *Remove burrs around the holes with a file
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|
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| *[[Media:IRGearbox12InputPlate.jpg]]
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|
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| *Note: Location of motor mounting holes TBD
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|
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| ===[4] Side Plate===
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|
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| *Mark cut lines with a scriber, rule, and try-square
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|
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| *Cut to appropriate dimensions with torch cutter
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|
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| *Mark 1/2" dia. hole centers with a scriber, try-square, and center punch
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|
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| *Drill the 1/2" dia. holes with a 1/2" bit and cordless drill
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|
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| *Remove burrs with a file
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| *[[Media:IRGearbox12SidePlate.jpg]]
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|
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| ===[2] Cover Plates===
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| **Mark cuts with scriber and try-square
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| **Cut with torch cutter
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| **Mark holes with scriber, try-square, rule, and center punch
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| **Drill holes with 1/2" bit and cordless drill
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| **Smooth with a file
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| **[[Media:IRGearbox12CoverPlate.jpg]]
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|
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| ===[4] Outer Race Plate===
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| **Mark cuts with scriber and try-square
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| **Cut with torch cutter
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| **Mark drill holes with scriber, try-square, rule, and center punch
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| **Mark torch hole with scriber, rule, nipple punch, and divider
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| **Drill with 1/2" bit and cordless drill
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| **Torch with torch cutter
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| **Smooth with a file
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| **[[Media:IRGearbox12OuterRacePlate.jpg]]
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|
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| ===[2] Round Bar===
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| **Mark cuts with scriber and box-square
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| **Cut with torch cutter
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| **Mark drill holes with scriber, combination set, and center punch
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| **Drill with 1/2" bit and cordless drill
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| **Tap with 1/2" - 13 taper/intermediate/plug taps and tap wrench
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| **[[Media:IRGearbox12OutputShaft.jpg]]
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|
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| ===[4] Inner Race===
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| **Mark cuts with scriber and box-square
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| **Cut with torch cutter
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| **Mark with scriber and divider
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| **Turn with lathe
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| **Groove with lathe
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| **Mark hole with scriber, combination set, nipple punch, and divider
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| **Torch with torch cutter
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| **Smooth with file
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| **[[Media:IRGearbox12InnerRace.jpg]]
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|
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| ===[2] Output Hub===
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| **Mark cuts with scriber and box-square
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| **Cut with torch cutter
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| **Mark with scriber and divider
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| **Turn with lathe
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| **Groove with lathe
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| **Mark hole with scriber, combination set, nipple punch, and divider
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| **Torch with torch cutter
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| **Smooth with file
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| **[[Media:IRGearbox12OutputHub.jpg]]
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|
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| ===[2] Support Hub===
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| **Mark cuts with scriber and box-square
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| **Cut with torch cutter
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| **Mark with scriber and divider
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| **Turn with lathe
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| **Groove with lathe
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| **Mark hole with scriber, combination set, nipple punch, and divider
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| **Torch with torch cutter
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| **Smooth with file
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| **[[Media:IRGearbox12SupportHub.jpg]]
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|
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| *[2] Input Gear
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|
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| *[2] Output Gear
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|
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| *[2] Key
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|
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| ==Gearbox 3,4==
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|
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| Forearm Angle
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|
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| *As shown below
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| **[[Media:ForearmAngle.jpg]]
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|
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| *As shown below
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| **[[Media:WristAngle.jpg]]
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|
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| *Input Plate
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| **[[Media:IRGearbox3456InputPlate.jpg]]
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| **Note: Location of mounting holes for hydraulic motor unknown
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|
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| *Side Plate
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| **[[Media:IRGearbox3456SidePlate.jpg]]
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|
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| *Cover Plates
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| **[[Media:IRGearbox3456CoverPlate.jpg]]
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|
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| *Outer Race Plate
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| **[[Media:IRGearbox3456OuterRacePlate.jpg]]
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|
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| *Output Hub
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| **[[Media:IRGearbox3456OutputHub.jpg]]
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|
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| *Output Shaft
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| **[[Media:IRGearbox3456OutputShaft.jpg]]
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| **Keyed
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|
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| *Inner Race
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| **[[Media:IRGearbox3456InnerRace.jpg]]
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|
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| ==Gearbox 5,6==
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|
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| *Wrist Angle
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|
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| *As shown below
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| **[[Media:WristAngle.jpg]]
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|
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| *Input Plate
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| **[[Media:IRGearbox3456InputPlate.jpg]]
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| **Note: Location of mounting holes for hydraulic motor unknown
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|
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| *Side Plate
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| **[[Media:IRGearbox3456SidePlate.jpg]]
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|
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| *Cover Plates
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| **[[Media:IRGearbox3456CoverPlate.jpg]]
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|
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| *Outer Race Plate
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| **[[Media:IRGearbox3456OuterRacePlate.jpg]]
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|
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| *Output Hub
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| **[[Media:IRGearbox3456OutputHub.jpg]]
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|
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| *Output Shaft
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| **[[Media:IRGearbox3456OutputShaft.jpg]]
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| **Keyed
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|
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| *Inner Race
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| **[[Media:IRGearbox3456InnerRace.jpg]]
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|
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| ==Encoder Mount==
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|
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| ===[6] Encoder Mount Support Angle===
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|
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| *Mark cut lines with scriber and combination set
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|
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| *Cut to appropriate dimensions with torch cutter
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|
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| *Mark 1/2" and 1/4" hole centers with scriber, combination set, and center punch
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|
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| *Drill 1/2" and 1/4" holes with 1/2" bit, 1/4" bit, and cordless drill
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|
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| *Remove burrs with file
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|
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| *[[Media:IREncoderMountAngleA.jpg]]
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|
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| ===[6] Encoder Mount Main Angle===
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|
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| *Mark cut lines with scriber and combination set
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|
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| *Cut to appropriate dimensions with torch cutter
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|
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| *Mark 1/4" and 5/32" holes with scriber, combination set, and center punch
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|
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| *Drill holes with 1/4" bit, 5/32" bit, and cordless drill
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|
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| *Remove burrs around the holes with file
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|
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| *[[Media:IREncoderMountAngleB.jpg]]
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|
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| ===[6] Encoder Mount Coupling===
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|
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| *Mark cut lines with scriber and combination set
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|
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| *Cut to appropriate dimensions with torch cutter
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|
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| *Mark 1/2" dia. and 1/4" dia. holes with scriber and combination set
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|
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| *Drill 1/2" dia. and 1/4" dia holes with 1/2" bit, 1/4" bit, and cordless drill
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|
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| *Remove burrs around the holes with file
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|
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| *[[Media:IREncoderMountCoupling.jpg]]
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|
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|
| ==Stepper Mount== | | ==Stepper Mount== |
| Line 423: |
Line 158: |
| [[Media:StepperMotorMountPlate.jpg]] | | [[Media:StepperMotorMountPlate.jpg]] |
|
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|
| ===[6] Shaft Bar=== | | ===[6] Shaft Coupling=== |
| **Mark cuts with scriber and box-square | | **Mark cuts with scriber and box-square |
| **Cut with torch cutter | | **Cut with torch cutter |
| Line 431: |
Line 166: |
|
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|
| [[Media:ShaftBar.jpg]] | | [[Media:ShaftBar.jpg]] |
|
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| =Assembly=
| |
|
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| ==Assemble Gearboxes==
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|
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| [[Media:AssembleGearbox.png]]
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|
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| ==Assemble Industrial Robot==
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|
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| *As shown below
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| [[Media:cadrobotnew.png]]
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|
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|
| ==Assemble Stepper Motor Mount== | | ==Assemble Stepper Motor Mount== |
| Line 447: |
Line 171: |
| *As shown below, repeat for a total of 6 mounts | | *As shown below, repeat for a total of 6 mounts |
| [[Media:Stepneedlemount.jpg]] | | [[Media:Stepneedlemount.jpg]] |
|
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| ==Connect Components==
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|
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| ==Hydraulic Connections==
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|
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| *2 Axes Hydraulic Circuit
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| **Correction: Relief valve inline between pump and input tee set
| |
| [[Media:HydraulicCircuit2.jpg]]
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|
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| *Hydraulic Circuit
| |
| [[Media:HydraulicCircuit.jpg]]
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|
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|
| ==Electronic Connections== | | ==Electronic Connections== |
| Line 467: |
Line 180: |
|
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|
| [[Category:Industrial Robot]] | | [[Category:Industrial Robot]] |
|
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| =Programming=
| |
|
| |
| *Programming the Microcontroller
| |
| **Download Arduino IDE [http://arduino.cc/en/Main/Software Arduino IDE Download]
| |
| **Connect Arduino microcontroller to computer through USB port
| |
| **Execute Arduino IDE
| |
| **Copy and paste microcontroller code from the source file [here]
| |
| **Sketch > Verify/Compile
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| **Upload
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|
| |
| *Python Jogger
| |
| **Get python code [here]
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| **Execute python jogger program
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| **Get instructions [here]
| |
|
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| =Testing=
| |
|
| |
| ==Homing==
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|
| |
| *Connect the microcontroller to the computer via USB
| |
|
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| *Execute python jogger program
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|
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| *Turn on the pump
| |
|
| |
| *Press H on the keyboard
| |
|
| |
| *If the python jogger prints failure text, turn off the pump and troubleshoot
| |
|
| |
| ==Record Sequence Test==
| |
|
| |
| *Connect the microcontroller to the computer via USB
| |
|
| |
| *Execute python jogger program
| |
|
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| *Turn on the pump
| |
|
| |
| *Home all axes
| |
|
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| *Follow python jogger instructions [here] to record a waypoint and save the .ini file
| |
|
| |
| ==Perform Sequence Test==
| |
|
| |
| *Connect the microcontroller to the computer via USB
| |
|
| |
| *Execute python jogger program
| |
