Easy and Simple Arduino Robot Arm

by martzsam

Hello fellow iblers!

This is to serve as a small guide to replicating my most recent project; an Arduino based robotic arm.

First off I would like to acknowledge the help of Instructables user steveastrouk for getting me started on the programming, and my good friend Sean Ulrich for spending 6 hours debugging this thing with me.

Do to a technology failure I don't have any of the progress pictures otherwise this would be a full ible, I apologize for the inconvenience and hope that I supply enough information here to help get you on your way. So let's get started!

Here is a list of parts I used:

1x Arduino Uno
4x Large Servo
1x Medium Servo
1x Robotic Claw
1x Small Breadboard
4x Potentiometer
2x Toggle Switch
1x Battery Case for 4 D-cells (6v)
1x Arduino Battery Clip
~2 square feet of birch plywood 1/8' thickness
1/2 inch diameter basswood dowels
2x 1'x1'x3' blocks of basswood
~2.5 lbs of lead beads
5x servo wire extensions
Some decent compression spring to keep the load off of the servos when fully extended
Some kind of enclosure (I used tin boxes I bought at Michael's)

And an absolute buttload of hot glue.

The Code is attached as a txt file.

Please take not of the footnotes on the pictures for more details.

EDIT: Here is a video-

robot arm.txt970 bytes

Mindstorms NXT 2.0 - Color Sorter

lego turret

LEGO NXT Balancing Road TwoWheels Robot

LEGO Mindstorms NXT, HOLO3CYCLE

LEGO MINDSTORMS NXT Robotic Arm with Power Functions

Lego NXT Brückenlegepanzer

酒保機器人! 開瓶.端咖啡難不倒

來看日本最新的科技可以讓機器人自己開瓶、倒果汁、還有端咖啡跟爬樓梯，動作相當精準，這樣的高超技術，令人驚嘆。

　　你知道現在的機器人有多先進嗎？日本現在最新的科技可以讓機器人自己開瓶倒果汁、端咖啡和爬樓梯，動作相當精準，現場的高超技術，讓人看了相當驚嘆，推著餐車　走出來，緩緩走向桌子，接著拿起，左邊的綠色杯子，用手指頭　抓緊杯蓋，精準的旋轉開來，把裡頭的果汁，一滴不漏倒進紙杯當中。

　　　它的手幾乎跟人一模一樣，主人交代一下，雙手立刻抬上來，端起咖啡，走向觀眾檯前　平穩的放在桌上，手的關節已經開發的相當完全，至於腳呢，看著機器人左一步右一步，走上樓梯，下台時來個黃金右腳，漂亮一球　驕傲的叉起腰來，最後還大跳機械舞，似乎在感謝觀賞下台一鞠躬，機器人的可愛模樣，讓所有觀眾為之著迷，日本的機器人科技，又邁前了一大步。

資料來源

機器人酒保 呼乾啦

機械電子工程師、仿生機器人公司老闆薛佛（Ben Schaefer）研發製造的仿生機器人酒保「卡爾」（Carl），不但能在德國東部城鎮伊爾默瑙（Ilmenau）的機器人酒吧調雞尾酒，還能跟客人聊上兩句，堪稱全能調酒師。有不少觀光客慕卡爾名號而來，酒吧成為當地熱門景點之一。圖為薛佛26日與正在為客人調酒的「卡爾」互動。（圖︰路透／文︰國際新聞中心）

How to build a toilet-flushing Lego robot

By Evan Blass posted Sep 28th, 2007 at 8:12 AM

Tired of flushing your own toilet? Build a RoboFlush! RoboFlush is a simple Lego NXT Mindstorms Robot designed to flush a toilet automatically. It also comes with a manual flush option! Check out these instructions to build your own. Mike D'Amour came up with the idea, and Will Gorman built and documented RoboFlush.

How much do you know about Lego Robotics? Take the Lego Mindstorm Quiz atSomeTests.com

RoboFlush:
 

The Video:
 

The Flusher:

The flusher is mounted under the toilet bowl cover for the extra weight. Flushing requires no gearing, the NXT motor is strong enough to flush every time.

The NXT and Manual Flush:
 

The program for this robot is a little complicated in the NXT graphical language. It would be much simpler to understand in a traditional language like Java.

The Ultrasonic Sensor:
 

The ultrasonic sensor waits till it detects someone in range, then waits till that person is out of range. A polite thank you, and then flush!

The Lucky Toilet:  

資料來源

二信高中創研社辦機器人夏令營

二信高中創研社今年首度舉辦「飛行器機器人夏令營」，第一場對象為該校國中部一年級新生，多軸飛行器、機器人勁舞、迷宮秀等，國中生超開心，興緻高昂，第二場開放基隆市國小學生報名，反應相當熱烈，短短幾天已全數額滿。

二信高中表示：該校創研社成立近十年來，在全國創意競賽中獲獎無數，參賽學生累積出不少經驗，加上該校電機科及國中部的指導教師群，他們規畫出一套暑期夏令營課程，於七月二十、二十一舉辦國中組，預計在二十七、二十八日舉辦國小組，希望藉由寓教於樂的活動，啟發孩子無限的創意與技能。

二信高中指出，創研社師資群包括國中部數學教師郭世昌，自然教師盧丁諱、楊宙諭、電機科劉兆祥主任、機械科賴宏彰老師及廣設科謝啟駿主任，他們平日投入在學校教育工作，課餘時間玩玩科技產品，一群老師教學相長，玩出樂趣，將「玩具」、「科技」與學校課程結合，組成創研社，指導學生創意思考，從「玩具」與「科技」中引發學生的學習樂趣，參加各項創思競賽。

創研社指導老師郭世昌表示，目前我們在玩的「多軸飛行器」，有三軸、四軸、六軸、八軸，常用作空拍風景、空中氣體收集檢測、活動攝影，救災、高樓火警監控、國土森林監測…等，要完成一項攝影、監測工作，必須運用多項科技產品，從中可預先學習到很多理論與實務操作的技能，這次的夏令營除了讓學生能體驗科技的進步外，也藉由孩子喜歡的樂高玩具及機器人實作，啟發學生的無限創意及學習技能。

國中組已在二十、二十一日滿落幕，參加的二信國中部國一新生四十餘位，當天課程包括組裝機器人、程式及超音波感應教學，另外還有飛行秀、迷宮競賽、飛行模擬器練習及飛行競賽，課程活潑生動，參與的學生興緻高昂，玩得很開心，結束後每人都獲得一份與課程有關的飛行器或機器人，收穫滿行囊。

資料來源

Lego Mindstorms NXT Scorpion (kits 9797 + 9695)

Lego Mindstorms NXT Robot Arm (kits 9797 + 9695)

LEGO 360° Milling Machine

LEGO 3D Milling Machine AMAZING!

Lego Mindstorms NXT Ball Roller Coaster (kits 9797+ 9695)

2009 日本國際食品工業展 FOOMA JAPAN

投籃樂高機器人

LEGO可自動分類 樂高迷恨到口水流

game of life with 8x8 bicolor led matrix

I recently got one of those 8x8 LED matrices and I was playing with some Game of Life patterns when I found this pretty repeating pattern. I found it by starting with some random patterns. If you look closely you can see the pattern becoming a mirrored version of itself halfway through. Apparently the pattern doesn't repeat like this on an infinite grid but on this wrapping 8x8 grid it does ;-) FYI, the LED matrix is a bicolor one (green/red) and has an I2C interface (http://www.adafruit.com/products/902). I'm using the colors as follows: - newly created cells are green - cells that are at least 10 generations old are red - other living cells are yellow (simultaneously green+red) It's hookup up to my Arduino Uno r3. here's a video:Youtube

Code

/*

I recently got one of those 8x8 LED matrices  and I was playing with some Game of Life patterns when I found this pretty repeating pattern. I found it by starting with some random patterns. If you look closely you can see the pattern becoming a mirrored version of itself halfway through. Apparently the pattern doesn't repeat like this on an infinite grid but on this wrapping 8x8 grid it does ;-) 

 

FYI, the LED matrix is a bicolor one (green/red) and has an I2C interface (http://www.adafruit.com/products/902). I'm using the colors as follows:

 - newly created cells are green

 - cells that are at least 10 generations old are red

 - other living cells are yellow (simultaneously green+red)

 

It's hookup up to my Arduino Uno r3.

 

here's a video: http://www.youtube.com/watch?v=Ee2hOaQ2RDI

 

*/

 

#include 

#include "Adafruit_LEDBackpack.h"

#include "Adafruit_GFX.h"

 

boolean cells[8][8];

 

Adafruit_BicolorMatrix matrix = Adafruit_BicolorMatrix();

 

// game of life

int next[8][8];

 

void setup() {

  Serial.begin(9600);

  Serial.write("hello");

 

  randomSeed(analogRead(0));

  for (int r=0 ; r<8 r="" span="">

    for (int c=0 ; c<8 c="" span="">

      if (random(2) >0)

        next[r][c] = 1;

    }

 } 

 

  matrix.begin(0x70);  // pass in the address

}

 

void loop() {

 

  game_of_life();

}

 

int current[8][8] =

{ {0,0,0,0,0,0,0,0},

  {0,0,0,0,0,0,0,0},

  {0,0,1,1,1,0,0,0},

  {0,0,0,0,0,0,0,0},

  {0,0,0,0,0,0,0,0},

  {0,0,0,0,0,0,0,0},

  {0,0,0,0,0,0,0,0},

  {0,0,0,0,0,0,0,0} };

  

int mod(int a) { return (a+8)%8; }

 

void game_of_life() {

  

  matrix.clear();

  

  // draw

  for (int r=0 ; r<8 r="" span="">

    for (int c=0 ; c<8 c="" span="">

      int color;

      if (next[r][c] == 0)

        color = 0;

      else if (next[r][c] == 1) 

        color = LED_GREEN;

      else if (next[r][c] > 10)

        color = LED_RED;

      else

        color = LED_YELLOW;

      matrix.drawPixel(c,r,color);

    }

  }

  matrix.writeDisplay();

      

  // calc next state

  for (int r=0 ; r<8 r="" span="">

    for (int c=0 ; c<8 c="" span="">

      // count alive neighbors

      int alive = 0;

      alive += current[mod(r+1)][mod(c)  ] != 0;

      alive += current[mod(r)  ][mod(c+1)] != 0;

      alive += current[mod(r-1)][mod(c)  ] != 0;

      alive += current[mod(r)  ][mod(c-1)] != 0;

      alive += current[mod(r+1)][mod(c+1)] != 0;

      alive += current[mod(r-1)][mod(c-1)] != 0;

      alive += current[mod(r+1)][mod(c-1)] != 0;

      alive += current[mod(r-1)][mod(c+1)] != 0;

      if (current[r][c])

        if (alive < 2 || alive > 3)

          next[r][c] = 0;

        else

          next[r][c] = current[r][c] + 1;

      else

        if (alive == 3)

          next[r][c] = 1;

    }

  }    

  

  for (int r=0 ; r<8 r="" span="">

    for (int c=0 ; c<8 c="" span="">

      current[r][c] = next[r][c];

    }

  }  

  delay(100);

}