This robot is for use in RBE 3001 as a teaching platform for robot kinematics and trajecttory planning and image recognition.
Open BowlerStudio, in the menu
Add device -> creatures -> from git
and enter
https://github.com/Hephaestus-Arm/HephaestusArm2.git
then select
hephaestus.xml
This will generate the CAD and run the simulation.
From now on, all you need to do to calibrate is move the robot to the home pose and hit the calibration button on the controller. You will need to home the robot each time the Microcontroller is power cycled.
3x motor https://www.amazon.com/dp/B081CTX6DM/ref=twister_B0817ZKWF9
NO Engineering substitutions here
1x power supply: https://www.digikey.com/product-detail/en/mean-well-usa-inc/GST60A07-P1J/1866-2147-ND/7703710
Engineering substitutions for cost ok here
1x Barrel Jack adapter: https://www.sparkfun.com/products/10288
Engineering substitutions for cost ok here
1x Adafruit ItsyBitsy https://www.adafruit.com/product/3800
NO Engineering substitutions here
1x Line Driver: https://www.digikey.com/product-detail/en/texas-instruments/SN74HC126N/296-8221-5-ND
Engineering substitutions for cost ok here
1x header kit for processor https://www.adafruit.com/product/4173
Substitutions here ok
1x Breadboard https://www.sparkfun.com/products/12002
Engineering substitutions for cost ok here
4x resistors https://www.digikey.com/product-detail/en/stackpole-electronics-inc/CF14JT10K0/CF14JT10K0CT-ND/1830374
Engineering substitutions for cost ok here
1x Wire kit: https://www.amazon.com/MCIGICM-Breadboard-Jumper-Cables-Arduino/dp/B081GMJVPB
Engineering substitutions for cost ok here
1x USB cable https://www.amazon.com/AmazonBasics-Male-Micro-Cable-Black/dp/B0711PVX6Z
Engineering substitutions for cost ok here
1x pin headers https://www.pololu.com/product/1065
Engineering substitutions for cost ok here
1x Thrust bearing: https://www.mcmaster.com/5909k41
Engineering substitutions for cost ok here
2x Thrust bearing surface: https://www.mcmaster.com/5909K54-5909K54
Engineering substitutions for cost ok here
12x inserts https://www.mcmaster.com/94180a361 (sold in packs of 50)
Engineering substitutions for cost ok here
3x M5x25 https://www.mcmaster.com/91292A129-91292A129 (sold in packs of 50)
Engineering substitutions for cost ok here
13x M5x12 https://www.mcmaster.com/91290A228 (sold in pack of 100)
Engineering substitutions for cost ok here
1x Gripper servo https://www.digikey.com/products/en/motors-solenoids-driver-boards-modules/motors-ac-dc/178?k=mg92b
These are much cheaper in bulk from https://www.alibaba.com/product-detail/MG92B-Digital-Metal-Gear-Servo-For_60765301994.html
1x PSEye camera https://www.amazon.com/Sony-Station-Camera-Packaging-PlayStation-3/dp/B0735KNH2X/
NO Engineering substitutions here, sourcing is flexible
1x Adjustable stand https://www.amazon.com/Magnetic-Adjustable-Indicator-Holder-Digital/dp/B00L5T2ZA8/
If its possible to source something without the base, just the M8 threaded end, that would be even better if cheaper
1x CA glue https://www.amazon.com/Starbond-Cyanoacrylate-Microtips-Woodturning-Stabilizing/dp/B00C32ME6G/
Any small super glue is fine here
1x Ring light https://www.newegg.com/p/0SW-01GA-00025?Item=9SIAK0NAUS4868&Tpk=9SIAK0NAUS4868
Sourcing a cheaper one is also good
1 x nut for mounting camera stand https://www.mcmaster.com/98965A410