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5) Manipulation

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alvaresc edited this page Aug 5, 2021 · 20 revisions

Learn to make DeltaZ interact with its environment

Contents
  1. Introduction to Manipulation
  2. Manipulation Ideas
  3. Designing an End-Effector

Introduction to Manipulation

Robot manipulators consist of a series of bodies interconnected by articulated joints and have a means for performing a task (Sicilano). Robot manipulators are helpful to us in many different ways. In particular, they can do work that is too dangerous, repetitive or heavy for humans. For example, here is an image of robot manipulators collaborating on fabrication processes in an automotive factory.

(Robotics Business Review)

Robots are useful in many other ways as well. This surgical manipulator can perform procedures with 20 more precision when compared with past methods.

(ARVO)

There are even robots in space working on the ISS (international Space Station)

(IEEE Spectrum)

DeltaZ is a manipulator just like these robots, and with some creative designs, it change its environment in unique and interesting ways. I will walk you through a couple of different manipulation problems. Then, I will show you how to design your own custom end-effectors in TankerCAD so solve your own manipulation problems.

Manipulation Ideas

Here are three manipulation ideas that I had. Note, click on images below subheadings to take you to a video demonstration!

Drawing

(Note that in this video, I am holding the top of the DeltaZ to prevent tipping. However, if you have the base attached, I would recommend using sticky notes to draw on)

  1. 3D-print the drawing delta out of TPU. The STL file for this part is in this file location: DeltaZ\CAD\STL\Manipulation and Other Components and is linked here.
  2. Break off a short section of a colored pencil (~2 inches) and sharpen the pencil.
  3. Attach the the drawing delta to DeltaZ referencing steps 14-17 of 2) Building if needed.
  4. Insert the colored pencil in the central hole on the drawing delta.
  5. Fire up the GUI and place a piece of paper under the robot. .
  6. Move the robot directly down using the Z Position slider such that the colored pencil is pressing into the drawing surface hard enough to leave a mark.
  7. Use the configure menu to set the current z value as the zMin. This will allow you to consistently go to the drawing level without damaging the robot or the pencil.
  8. Use the X-Y Position slider to draw a picture. You may need to use the Z Position slider to lift the pencil up.

Have fun drawing!

Stamping

(Note that in this video, I am holding the top of the DeltaZ to prevent tipping. However, if you have the base attached, I would recommend using sticky notes to stamp on)

  1. 3D-print the stamp holder from TPU. The STL file is in DeltaZ\CAD\STL\Manipulation and Other Components or linked here
  2. Acquire stamps. Ink is included with the stamps.
  3. Attach the stamp holder using a 10mm Screw and a nut.
  4. Add a stamp to the holder. Choose any letter you like.
  5. Fire up the GUI and place a piece of paper under the robot.
  6. Place the ink pad on the side of the robot's workspace such that the robot can just reach the ink with the entire stamp.
  7. We will use the save position functionality for this task. Manually move the robot so that it is a few centimeters above the ink. Save this as position 1 by clicking "Set" on the first row of features on the Save Position panel. (The Save Position panel allows your DeltaZ to remember and return to 4 desired position by clicking "Go". You can also reset the position by clicking "Reset" or run all 4 saved positions in a sequence by clicking the "Run Sequence" button).
  8. Manually move the robot so that way it is pressing into the ink. Set this as position 2.
  9. Slowly raise the robot up using the Z Position slider.
  10. Go home by clicking the home button. If saved position 3 isn't the home position (x = 0, y = 0, z = -47.06), then set that now.
  11. Manually move the robot down using the Z Position slider until the stamp is pressing on the paper. Save this as position 4.
  12. Add a new piece of paper and follow this sequence for a quick stamp: Go to position 1, Go to position 2, slowly raise the end effector off of the ink using the Z Slider, Go to position 3, Go to Position 4.

Soccer

(Note, if you choose to do this manipulation task, I highly recommend that you use the base. Otherwise, at least configure zMin such that the boot cannot touch the ground. If so, the robot may flip over. Also, be wary of stepping on the ball and causing the robot to flip if you choose to not use the base.)

  1. 3D-print the ball, goal, and boot. Some notes on 3D-printing these parts: Use adhesion/brim and support to print the ball. I also recommend using support when printing the foot. The goal should be able to print without support. (As an added note, I got these parts from Thingiverse. This is a great resource to find STL files for 3D-printing). All parts are in the folder, DeltaZ\CAD\STL\Manipulation and Other Components or here.
  2. Attach the boot using 3 of the 10mm Screws in Nuts.
  3. Fire up the GUI.
  4. Move the boot to one side of the workspace. The foot should be off of the ground near the center of the ball at z = -47.06. If not, please adjust so that the toe of the boot is in the center of the ball. Set this as position 1.
  5. Move the robot to the other side of the workspace maintaining z height. Save this as position 2. Ideally, position 2 would be between two of the Legs.
  6. Setup the goal downrange.
  7. Move the boot and place the ball where the boot was at in position 2.
  8. (Optional) If you want, set two other positions on either side of the ball so that the robot does moves, feel free!
  9. Move the robot from position 1 to position 2 to kick the ball.

Designing an End-Effector

Watch this video to walk you though designing an end-effector in TinkerCAD (click on the image).

Before you design any parts, I would recommend watching this video on the engineering design process (it also gives a brief intro on different types of engineers. The engineering design process is universal for all types of engineering). It is important to consider what problem you are actually trying to solve and why before you make anything.

Here is a demo video using a similar hook and weight that I 3D printed.

With the ability to use TinkerCAD and the engineering design process, you have the ability to design any end-effector for your DeltaZ. I encourage you to design your own end-effectors to solve a fun, silly, or useful problem. Maybe make DeltaZ play your favorite sport or make it do something useful for you!

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