Thanks, guys! I am glad, that You like it :)) 2011/5/11 gene heskett <[email protected]>: > > Looking great! Keep us posted. What heating method will be used? >
What do You mean with the method of heating? If You mean - what kind of welding is that going to be, then - it will be MIG welding machine. Power source, cooling unit and wire feeder units already have arrived, but the welding gun and cable will arrive after few weeks. That welding gun will be something specifically for robots. Very similar to those that can be seen on Youtube on Fanuc welding robots. The tip of the gun will be 400 mm below the wrist, always at 45 degree angle. 2011/5/11 Andrew <[email protected]>: > Very nice Viesturs! > > Add more details please. Worm gears? What's the long stroke lenght, which > actuator is there? I thought noone would ask :)) Linear slide is 4000 long, it is a MOD1,5 rack and 48 teeth pinion, driven by Nema42 motor through a 15:1 worm gear reducer. I was able to achieve 15000 mm/min rapid speed, but will settle down to 10000 mm/min - I find it safer. And that's what is told in tech specs in my contract. The arm dimensions - distance between centers of shoulder and elbow joints is 600 mm, between elbow and wrist joints - 500 mm. Shoulder and elbow joints are 80:1 worm gear reducers, driven by Nema23 steppers through additional 8:1 planetary gearboxes, giving total ratio of 640:1. And still the arm is very quick - after taking that video I started tweaking acceleration and velocity and the arm is capable to deliver 10000/min rapid speed of the "controlled point" (which currently is at the end of the arm). In the wrist there are 2 Nema23 steppers on a 64:1 planetary gearboxes. One keeps the wrist straight, the other will turn the welding gun around vertical axis. At the beginning I thought that all those ratios might be too large, because Harmonic Drives (manufacturer top-class zero-backlash planetary reducers, used by ABB and others in high-end robots) has the max ratio of 160:1. I wanted such ratios to get smooth positioning and with servos it would work with a 160:1, but with steppers even now I have ~ 0,07 mm travel distance on each full step of motor. So I think that it is a success :) But I think that I would like to use some small servos for the next arm. 2011/5/11 Igor Chudov <[email protected]>: > Very nice. Can this arm survive welding and its shielding/interference > issues? I hope so :)) Actually my task in this project was: 1) design the arm itself; 2) design and implement controls. Actual production of parts and assembly is not my task. The boss of the company, who contracted me, thinks that there should not be issues with interference, so I do not worry about that yet. The motor wires are not shielded - I just put them in some kind of cable sockets. Each motor has a different color so that I do not spend half a day, trying to figure out which one of six blue/yellow/black/red leads is going to which motor and really helps keeping them away of becoming a huge mess of wires. But inductive homing switches are about to be installed and I think that their cables have shielding. Viesturs ------------------------------------------------------------------------------ Achieve unprecedented app performance and reliability What every C/C++ and Fortran developer should know. Learn how Intel has extended the reach of its next-generation tools to help boost performance applications - inlcuding clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
