Open Robotic Manipulator (ORM-1)

thingiverse

3D Printed Robotic ARM with 500mm reach and 500 grams payload. Load Test Video: https://www.youtube.com/watch?v=bHvGD2wyQ8I Kinematics Test with ROS, MoveIt and RViz https://www.youtube.com/watch?v=XaE1a1DXx7g Kinematics Test with iOS app to repeat the hand positing with the manipulator: https://www.youtube.com/watch?v=inx-mROqErI Arduino Firmware, Python Library and STL Files: https://github.com/sergei-nntu/orm ROS Module: https://github.com/sergei-nntu/orm-ros 3d Printable Parts - 15_1_5 - large actuator body x3 - 15_2_6 - large actuator shaft x3 - 15_3_2 - large actuator cap. . x3 - 15_4_1 - large actuator shaft tightening ring x3 - 14_1_6 - small actuator body x3 - 14_2_3 - small actuator shaft x3 - 14_4_3 - small actuator cap. . x3 - 9_11_4 - ORM-1 Base x1 - 9_15-3 - ORM-1 Base Bottom (with spaces for schematics) x1 - 9_12_1 - ORM-1 Upper Arm x1 - 9_10_4 - ORM-1 Forearm x1 Non-3d Printable Mechanical Parts - 6809 Bearing (45x58x7) - 6814 Bearing (70x90x10) - M4x10 Screws - M4x30 Screws - M4 Nuts - M4 Threaded Rivets - M3 Threaded Rivets - M3x12 Screws Servos - DS5180 x2 - DS51150 x1 - DS3240 x3 Test Environment - Linux PC - Arduino Nano - 12 V 15 A Power Source DC-DC Step Down 9A x2 (to cast the voltage to 6.8 V and 8.4 V for DS3240 and DS5180 servos) GRIPPER: In the demonstration videos the following gripper is used as an end-effector: https://www.thingiverse.com/thing:1480408 More details, control software sources and assembly instruction will be available shortly on Telemetry Balkan doo website: https://www.telemetrybalkan.com/orm-1-2/