Home made robot arm - CS001 - by Zoltán Schoffhauzer (Hungary)

[PepperDeee]

wow. this is an awesome prototype. doesn't really look homemade.

I'm looking forward to you tutorial vids, it'll be a lot of help for our thesis. THANK YOU SO MUCH!!! GOD BLESS

[espartan24marks5]

very slow

[pfJacquelyn716]

lol fynny

[mangirdas9]

this isn't home made! u can't get this to work like this with any working machines! its fake guys.

[schoffhauzer]

Hello Guy!

It seems that my robot's outview is much more better then I thought. You are the second guy who do not believe in my work. If you want, I can evidence my truth. I took photos from every step of the building of this robot. I planned to upload the pictures before, but I believed that it's not necessary.

On the other hand, based on your comment you should be a very primitive guy...

On the following days I upload the promised pictures

regards,

Z.

[cuauhtlip]

@schoffhauzer how much weight can it lift?? Im planing to do a 60 cm long arm that can lift 1 kg... im building up home made servos and everithing but I would like to know more less how much can it lift without stall, how fast can it move with this weight, and how long is the actual arm horizontally, I would apreciate this info, and great job on this arm!

[schoffhauzer]

@cuauhtlip

This robot is only a prototype, so I used the most cheap materials. For example the body is from such kind of furniture wood. I have never try to lift heavier things. The heaviest thing was only 0,5 kg. As you can see, my robot is very slow, because I used an 1:25 gear for the motor.

Good Luck for your version!

[cuauhtlip]

@schoffhauzer thanks i'll show it to you when I finish, aprox. 6 months

[AhmadAboulFarag]

That doesn't look very home made.....How did you process the parts?

[schoffhauzer]

@AhmadAboulFarag

Hi!

In the following days I'll upload an other video, witch will present every step!

[AhmadAboulFarag]

@schoffhauzer Thanks, if it's really home made then it's probably really well done. And, it's OK you don't have to prove anything but that video you'll post would be awesome for sharing knowledge between people. You're a good man.

[schoffhauzer]

@AhmadAboulFarag

I'm working on the mentioned presentation about the build up. Please give me some further days

[AhmadAboulFarag]

@schoffhauzer Thanks... Take your time, we're all grateful anyway.

[HyperFoxIII]

@AhmadAboulFarag 3d printer, duh.

[rodstartube]

it looks like no control, just on off dc brush motors

[MrMecaMania]

Hmm for an afterwork achievements it is impressive i would only have a few questions to ask:

1- What about the singularities this arm passes through?

2- With all that weight and relatively slow motion i would have to ask to what extant can it bear a heavy duty task?

3-Am not really familiar with PLCs, but wouldn't u have a wider grounds of control and programing if the control was implemented via FPGAs?

Well after all it is a great peice, Good Luck :)

[Nitrolord1]

For home made it looks exspensive yet slow and the counter wates suggest it cant lift its own arm to save yer life. I beleave servowes off an RC car would be more effective. However it looks cool and works so good job.

[cheerfu11]

lol nice1

[brdshah]

Hi,

I really like your project. Is it possible for you to build one for me? I could use it for some of my manufacturing application.

[schoffhauzer]

Hi,

The biggest problem is that it's only a prototype which presents how could we design or build robot arms where the motors are not in the body of the robot. For first view it's hard to see that the motors or actuators are under the tablet and I used special wires to move the links and arms. This was my first job, and it's a so beginner model with many mistake. I hope once I have more free time to built a much more professional robot arm.

[schoffhauzer]

And I think It's impossible to use this model for manufacturing. A robot arm should works always and without mistakes. But this prototype hasn't be able to do this kind of jobs yet. Maybe in the future :) I hope...

Regard,

Zoltán.

ps.: thanks for your comment's! It's quiet good for me ;)

[brdshah]

@schoffhauzer

Thank you for your immediate response. We have to 2 Vertical Machining Centers with us in our tool room. We want to put a robotic arm like yours in our paint shop. If you want we could fabricate the mechanical components as per your requirement to build the arm and send them to you for making a working prototype.

[schoffhauzer]

@brdshah

It sounds good that you could fabricates parts for the robot, but unfortunately it's not enough. My robot is not too precise. For painting you need a professional robot like a Kuka or an ABB model. However with some manufacturing help I could make a more professional robot, but the developing would need so many time. And the end product won't be able to race with a real robot arm which have been developing for years by so many talent engineers at ABB or any other professional factory.

[schoffhauzer]

I think I could design a much more better robot arm by mechanic side. I could design a simple electronic part as well like the motors and actuators, but I haven't got knowledge for the robot programming and I don't know which are the necessary hardware. So we would need a team, with a good electrical engineer who has knowledge for the robot software and electronic hardware. I could assume the whole mechanical part of the job like design and maybe the simulation as well.

[schoffhauzer]

So tell the true in your professional environment you should use a complete robot which has already been developed for painting by a professional industrial robot arm manufacturer.

But I would be very happy If I could work together with somebody to develop a professional robot arm. But the tools and parts are too expensive without support for a "home made" product.

Thanks again for your comments!

Best Regards,

Zoltán

[brdshah]

@schoffhauzer

We are looking at painting articles of 12" x 12" x 3" (305mm x 305mm x 75mm) only. We do not intend to use it for any bigger components. We have facility to produce components for the prototype as well as for multiple units. We are using Pro-Engineer for our CAD-CAM requirements. If you could make a list of components and motors, probably we could arrange to procure them and send it to you.

[schoffhauzer]

Hi Mr. @brdshah,

What is the latest deadline for the work? Where is your company?

[brdshah]

@schoffhauzer

We are not looking at e deadline currently. We are a company situated in Mumbai, INDIA.

[brdshah]

There is no deadline on this project.

[schoffhauzer]

1.: Hello brdshah,

Before I decide that I make you a robot or not, please give me about two weeks. I have to discuss so many things about the tools, complements and about my responsibility. First I'm looking for motors and control unit. I have to study their programming technology. On the other hand I will need so many informations about your manufacturing environment. For example the sizes and masses.

You have to know, that we will need so many communications and many time.

[schoffhauzer]

2.: On my first robot I was working 40 days. It contains the idea brainstorming, mechanical developing, complete 3D model creating, 2D drawing generating, electrical developing and simulation, software writing, purchasing the components and the fabricating. Now I would need more time, because this project is more complex and responsible. I would like to do a precise machine with high quality for you. So I need more time for the exact engineering applications.

[schoffhauzer]

3.: Now I'm working as a developer engineer, so I can do the robot only after my work in 2-3 hours per day. If you are happy with my long term work, we can work together. But as I mentioned first I need some weeks for thinking on the achievement. Maybe it's not possible by my side...

In the future please let me propose to communicate via e-mail. My e-mail address is the following: schoffhauzer@gmail.com

[arakitai]

Is it possible to use micro-hydraulics instead of electric motors? I would think that small-chamber hydraulic pistons could generate a lot of force. Their small surface area would allow for very high compression ratios relative to their size.

Just a thought...

[yennie0828]

u use which type of plc?

[chin2sh]

Sir I am a final year Electronics student pursuing my degree of B.E. I have planned to make a robotic arm for my final year project. I saw your work and was truly amazed.I know you must be very busy with your work.But it would be a favour if you can guide me as in how to go on sequentially to implement this project.I have searched a lot about the project but too many ideas and too many links are doing nothing more than confusing me rather.

[Thetruthishere11]

stepper motors?

[schoffhauzer]

Hi!

The motors are simple windscreen wiper DC motors from a russian car with a 1:25 gear.

[maxbt1]

i am really impressed with your project. i have only one question. shouldn't mechanical engineers do these kinds of projects? i am a mechanical student and i'm really interested with robotics. should i shange my major to electrical? i really appreciate your advise.

[schoffhauzer]

Köszönöm!

[n2thee]

Well done! :)

Even though it's from wood, it still looks pretty cool.

Do you have a video clip where it moves objects or anything like that? Hope you got a great grade =)

[schoffhauzer]

Thank You!

The result of my diploma was 5 (In Hungary, this is the best) :)

Unfortunately, when I was doing my robot arm I had only one FESTO PLC micro controller with eight output ports. There are four actuators. One actuator needs two outputs from the PLC: one for the forward and one for the backward rotation. So the move of the four links needs all the outputs, and there is no output for the end effector. So I havent got a video about moving objects :(

[schoffhauzer]

After my final exams, my university bought the robot arm for education purposes, so now I havent got the possibility to develop it.

[n2thee]

Congratulations :) You deserved the 5 ^^ Only thing I've used a PLC for is to control the lights in the apartment from the printer port from the computer. Then made a server program (TCP) that would receive commands from the clients that I made. (Windows Mobile with WLAN and regular PC's with LAN access).

8 outputs was a bummer for you :\ But now you got a lot of experience :)

Which school did you go to? I went to Space Technology in Norway ^^ Got 6 in electronics (the highest grade ^^)

[kpkale]

This is indeed a great Industrial RObot. Could you share more information about the components that you used in this robot.

[schoffhauzer]

Dear Kpkale,

Thank You for your recognition. As you read, my robot arm is a prototype, so it was made by applying the cheapest possible materials and components. For instance, the body of the robot arm is made of wood (such as furniture).

[schoffhauzer]

The actuators are not placed in the links, but they are under the table of the construction. The actuators are windscreen wiper motors. I made a 1:25 gear for the stronger effect. There is a wire dial in each joint. When the wire is wounded by the motor, the wire dial starts to rotate with the given link. (the wire is bike brake bowden cable).

If you have more questions, don't hesitate to contact me.

Best regards,

Sofi

[schoffhauzer]

Sokan kérdeztétek, hogy hol vettem a robot alkatrészeit. Szeretném itt hangsúlyozni, hogy az itt látható robotkar szerkezete 100% sufni tuning :D A szerkezeti felépítés nagy része fából van! Éjszakáim mentek rá az alkatrészek fűrészelésére, reszelésére, csiszolására.

[schoffhauzer]

A Pannon Egyetem megvásárolta tőlem, így sajna nem tudom megmutatni élőben.

[Mikeee1986]

Nagyon állat Sofi,grat hozzá!

[wwwzoli]

Hááát, GRATULA szomszéd!

Nagyon király lett a robotkar, majd remélem személyesen is láthatjuk :D

Üdv: Egyik szomszéd

[swatosi]

Nagyon komoly!

Csak így tovább!

[prisznyo]

gratula, Sofi!

..a jövő tudósa ;) csak így tovább!

üdv: Piri (ex-berkenyés:)

[Jeki6]

Aztaaa!!! Nagyon ügyi vagy!! :-))

Pussz: Zsani

[matetuning]

ez igen

üdv.

t.mate alias Lóri

[schoffhauzer]

Köszönöm Kiskönyv!

[kiskonyv85]

Hát Zolibácsi! Ez beszarás:) már bocs, de ez nagyon komoly project! Gratulálok hozzá! Üdvözlet!

[schoffhauzer]

Köszi D!!!

[davidpaor]

Nagyon király Zoli a robotkar. Én nézhettem meg először youtubeon, és én kommentelhettem elsőként. Grat hozz mégegyszer