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The design of the revolute coordinate arm is modeled after the human arm. A shaft-mounted shoulder joint provides shoulder rotation (degree of freedom #1). A simple swing-arm rotating joint provides the elbow flexion (degree of freedom #2). You could add a third degree of freedom, shoulder flexion, by providing another joint immediately after the shoulder. In tests, however, I found that this basic two-degree-offreedom arm is quite sufficient for most tasks. It is best used, however, on a mobile
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Copyright 2001 The McGraw-Hill Companies, Inc. Click Here for Terms of Use.
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378 BUILD A REVOLUTE COORDINATE ARM
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platform where the robot can move closer to or farther away from the object it s grasping. That s cheating, in a way, but it s a lot simpler than adding another joint.
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Shoulder Joint and Upper Arm
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The shoulder joint is a shaft that connects to a bearing mounted on the arm base or in the robot. Attached to the shaft is the drive motor for moving the shoulder up and down. The motor is connected by a single-stage gear system, as shown in Fig. 25.1 (refer to the parts list in Table 25.1). In the prototype arm for this book, the output of the motor was approximately 22 rpm, or roughly one-third of a revolution per second. For a shoulder joint, 22 rpm is a little on the fast side. I chose a gear ratio of 3:1 to decrease the speed by a factor of three (and increase the torque of the motor roughly by a factor of three). With the gear system, the shoulder joint moves at about one revolution every eight seconds. That may seem slow, but remember that the shoulder joint swings in an arc of a little less than 50 , or roughly one-seventh of a complete circle. Thus, the shoulder will go from one extreme to the other in under two seconds. Refer to Fig. 25.2. The upper arm is constructed from a 10-inch length of 57/64-inch-by9/16-inch-by-1/16-inch aluminum channel stock and a matching 10-inch length of 41/64inch-by-1/2-inch-by-1/16-inch aluminum channel stock. Sandwich the two stocks together to make a bar. Drill a 1/4-inch hole 1/2 inch from the end of the channel stock pieces. Cut a piece of 1/4-inch 20 all-thread rod to a length of seven inches (this measurement depends largely on the shoulder motor arrangement, but seven inches gives you room to make changes). Thread a 1/4-inch 20 nut, flat washer, and locking washer onto one end of the rod. Leave a little extra about 1/8 inch to 1/4 inch on the outside of the nut. You ll need the room in a bit. Drill a 1/4-inch hole in the center of a 3 3/4-inch-diameter metal electrical receptacle cover plate. Insert the rod through it and the hole of the larger channel aluminum. Thread two 1/4-inch 20 nuts onto the rod to act as spacers, then attach the smaller channel aluminum. Lock the pieces together using a flat washer, tooth washer, and 1/4-inch 20 nut. The shoulder is now complete.
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Spur gears (3:1 reduction)
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Shoulder motor
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Shoulder (1/4"-20 all-thread rod)
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FIGURE 25.1 The gear transfer system used to actuate the shoulder of the revolute arm. You can also use a motor with a built-in reduction gear if the output of the motor is not slow enough for the arm.
ELBOW AND FOREARM
Table 25.1
PARTS LIST FOR REVOLUTE ARM.
1 1 1 1 1 2 2 1 2 1 2 1 2 1 Misc
10-inch length 57/64-inch-by-9/16-inch-by-1/16-inch aluminum channel stock 10-inch length 41/64-inch-by-1/2-inch-by-1/16-inch aluminum channel stock 8-inch length 57/64-inch-by-9/16-inch-by-1/16-inch aluminum channel stock 8-inch length 41/64-inch-by-1/2-inch-by-1/16-inch aluminum channel stock 7-inch length 1/4-inch 20 all-thread rod 1 3/4-inch-by-10/24 stove bolt 1 1/2-inch-by-3/8-inch flat corner iron 3-inch-by-3/4-inch mending plate T (for motor mounting) 1/2-inch aluminum spacer 1/4-inch aluminum spacer 3/4-inch-diameter, 5-lugs-per-inch timing belt sprocket 20 1/2-inch-length timing belt (5 lugs per inch) Stepper motors (see text) 3:1 gear reduction system (such as one 20-tooth 24-pitch spur gear and one 60-tooth 24-pitch spur gear) 6/32, 10/24, and 1/4-inch 20 nuts, washers, tooth lock washers, fishing tackle weights
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