We are controlling our motors using Arduino UNO since it is kind of easy to link Arduino and Matlab. This way using our interface, which was made using Matlab, the motors will be able to move from the interface through Arduino. We have videos showing the first rotational joint moving, as well as the prismatic …
Category Archives: Glassbotics
Update on Motors
Back when we started proposing our motors, we determined we needed 2 servomotors for our rotational joints. For the prismatic joint we would use a stepper motor. In the following pictures we show our final chosen motors. Our stepper motor is a Nema 17 with a worm drive which holds a threaded rod that helps …
Singularities
During this last term we found the singularities of our robot. We have an RPR robot which we already had the Jacobian matrix. So now, we focused on solving the singularities to know where our robot will not be able to generate any velocity; this was faster with Matlab. We know that singularities occur whenever …
DGM and mechanical and electrical design
Last week we obtained the DGM of the robotic arms of 3 and 6 DOF, applying the Denavit-Hartenverg method, for the i to j transformations (0 to 3 and 0 to 6), where the first 2 matrices of both cases remained the same: DGM: Mechanical Design We used solidworks to design our concept, getting an …
Spherical robot (RPR)
For team “Glassbotics” was assigned to design and build a spherical robot (RPR). This week we started discussion on how it is supposed to move. We thought about using stepper motors for the rotative sections, but since we might need to know position, we endep up chossing servos. For the structure and gears, we are …
So it begins
Students chose their teams today. You can meet all nine teams here.They are: Alpha Code-Breakers #DreamTeam Engelberger Co. Fast & Furious Glassbotics Kinematics Team R2D2’s Vengadores
UASLP Robotics 101 