MiniRobot Wooden Cabledriven 6dof RC-Servo

Hi,

I build up a very small Robotic toy for the Desktop.

Inspired by the cable driven approach, I just used cherry wood, some fishing cable, 7- servos (6dof + gripper) and an beaglebone black for control. It interpretes ISO GCode via webinterface...

since the robot is an educational toy, it constructed symmetrically which makes it possible to reach most positions in multiple arm configurations . So it becomes easy to explain the solutions of the inverse kinematic.

The construction is attached as ACIS .sat . and pdf.

All the parts are small enough to fit onto the table of small desktop mills.

I myself used a LINUXCNC (Machinekit) controlled PROXXON MF70.

Feel free to choose your own machinery.......

The bearings of the joints are done on a small lathe from brass an d Plastic.

Picture 2 shows the way Ibuild up joints 4 and 6. For Joint 1 I used a Ball bearing 25x12x10 mm.

I used very thin cables from fishing line in an uncompressed 0.5x0.9 Teflon hose. Its a little bit tricky to get the line into the hose, used a thin wire for this job!

The servo-motors are simply mounted on a Board, and the cables of the robot are connected to the original discs of the motors which got a small groove on the lathe and a small bore to make a knot .

don't forget to test everything before closing the box...

Feel free to use a servo tester or the final controller...

Finally apply some clearcoat using a airbrush gun.