project specification

ROBOPuppet

An inexpensive, tabletop-sized robot able to provide teleoperation input to full-sized robots. The project consists of a standardized encoder module, 3D printing procedure, and assembly process that is generalizable between a wide variety of robots. Novel methods for calibration and real-time input sanitization for collision prevention are also presented. A prototype puppet is presented for a 6DOF industrial robot with a total material cost of $85. ​

Overview

The project consists of a standardized encoder module, 3D printing procedure, and assembly process that is generalizable between a wide variety of robots. Novel methods for calibration and real-time input sanitization for collision prevention are also presented. A prototype puppet is presented for a 6DOF industrial robot with a total material cost of $85.

Specifications

  • Cost to build is under $100 due to mostly 3D printed components
  • Enables users to physically guide with the robotic arm through a "Joystick" approach
  • Can be used for diagnostics of the arm if any malfunction is to be explored
  • Printed on a Makerbot Replicator 2X using ABS 1.75mm filament. 3D printing took the team 29 hours
  • Once the parts are printed, the assembly and joint encoder alignment can be completed in approximately 1.5 hours.

References

Wevolver 2022