1 Hephaestus Arm v2

This robot is for use in RBE 3001 as a teaching platform for robot kinematics and trajectory planning and image recognition.

1.1 READ THIS SECTION BEFORE YOU DO ANYTHING

You need to follow all instructions in this guide in order, doing steps out of order means you may need to take apart the robot or risk breaking a component.

Read through each section completely and then do the actions in the guide. Doing this will make sure you have an understanding of why and what you are doing.

1.2 Dependancies and Tools

1.2.3 Required Tools

Tools in this section you will need to complete the build. If you are missing any of the required tools contact an SA and they may be able to provide workarounds.

Items that start with 🔧 are found in the Bookstore Tool Kit.

• Needle Nose Pliers

• 🔧 Ph1 Screw Driver

• 🔧 Wire Stripper

• 🔧 Soldering Iron

• 🔧 Soldering Stand

• 🔧 Lead Free Solder

• Double Sided Foam Tape

• Wire Kit

1.2.4 Useful Tools

Items that start with 🔧 are found in the Bookstore Tool Kit.

Tools in this section you might need to complete the build.

• 🔧 Solder Wick

• Zipties

• 🔧 Digital Multi Meter

• 220 Grit Sandpaper

Feel free to source these tools from wherever is nearby and cheap, this is just the first amazon link or what was included in the tools kit.

2 Unboxing and Understanding Your Kit.

2.1 Hephaestus v3 Main Kit

*Note the box in the image is not included get your own.

6x - Smart Servo Kit: Servo Motor that drives the main 3 joints of the arm,along with a cord and servo horns.

1x - Power Supply: Provides power to arm, via a DC jack.

1x - 5.5mm x 2.1mm DC Power Jack Connector

1x - B.E.C.

3x - Thrust Bearing : A ring of bearings for the base joint.

6x - Thrust Bearing Surface : A metal ring to support the thrust bearing.

40x - Heat-Set Inserts : Threaded inserts for the 3D printed parts (sold in packs of 50).

7x - M5x25 : Long bolts to assemble arm (sold in packs of 50).

13x - M5x12 : Short bolts to assemble arm (sold in pack of 100).

1x - Power cord : Used to power the arm.

6x Metal horn sold in packs of 5

12x M3x10 bolts

4x Springs sold in packs of 5

1x ESP32 DevkitC v4

*Note if you did not purchace the camera kit you will need to buy a button to assemble the robot. Or if you are approved to go on campus you can get one from the Foisie lab.

3D Printed Parts

1. 1x - Base: The arm's base

2. 1x - Link 3 Bracket: The middle link of the arm

3. 1x - Main Gripper Body: The main part of the gripper mechanism

4. 1x - Gripper Claw: The mobile part of the gripper

5. 1x - Link 1 Output Bracket: The part of the base joint that will rotate

6. 1x - Link 3 Output Bracket: The panel to hold the smart servo at the gripper's base

7. 1x - Camera Stand Base: A part to mount a threaded stand to the board

8. 1x - Board: A wooden board to mount the arm

9. 1x - Link 2 Output Bracket: A bar with five holes to mount a servo horn

10. 1x - 3 Hole Bar: A bar with three holes for holding a servo

3 Build the electronics

This next step of instructions will guide you in assembeling the elctronics for the arm and then calibrating the servos.

Wire the electronics

4 Build the arm

Build instructions

5 Calibrating the arm

Calibrate the arme once and only once on assembly

7 Extras

7.1 Communication

Communication Protocol

7.2 CAD and simulation

Open BowlerStudio, in the menu

Add device -> creatures -> Hephaestus Arm V2

This will generate the CAD and run the simulation.

7.3 STL's

Current Release Printable STL's and laser cut SVG

Print these with supports everywhere, do not reorent the parts. They are printed in this orientation to increase operating strength.

8 Troubleshooting

See the troubleshooting guide