Given Enough Time, Even A Circle Can Get Complicated

May 5, 2020 by Tom Nardi 14 Comments

With the weather getting a little nicer, [Michael] thought that running some plant hangers off on his CNC router would be a simple stay-at-home project. After all, you just need to cut a couple circles out of a sheet of plywood…right?

Sure, but [Michael] realized that simply cutting out a ring wasn’t a very efficient approach. Unless you happen to need progressively smaller plant hangers, or maybe a new set of drink coasters, the center disc ends up being wasted material. That might not have been a big deal a few months ago, but when a trip to the Home Depot for more plywood could literally be hazardous to your health, that kind of inefficiency just won’t do.

He reasoned it would be better to break the ring down into sections, which could easily be nested so they fit neatly on a square plywood panel. Of course, now those sections need to be connected to each other in a way that’s strong enough for the ring to hold up the weight of the plant.

So that means extra pieces need to be cut out to serve as braces, and you’ll need to screw it all together, so better add some nuts and bolts to the BOM. You’ll probably want some eye bolts as well, but in a pinch you could just weld washers to the heads of screws like [Michael] did once he ran out of the good stuff.

Some would argue that the time [Michael] spent coming up with this revised design is more valuable than the wood he avoided wasting, which might be true if he was on the job and getting paid hourly. But when it’s a personal project, and quarantine has made sourcing materials difficult, we think it’s a fantastic example of working with what you’ve got on hand.

Underwater Crawling Soft Robot Stays In Shape

April 23, 2020 by Moritz v. Sivers 9 Comments

When you think of robots that were modeled after animals, a brittle star is probably not the first species that comes to mind. Still, this is the animal that inspired [Zach J. Patterson] and his research colleagues from Carnegie Mellon University for their underwater crawling robot PATRICK.

PATRICK is a soft robot made from molded silicone. Each of his five limbs contains several shape memory alloy (SMA) springs which can be contracted through Joule heating thereby causing the limbs to bend. The robot’s control board is sending and receiving commands via Bluetooth Low Energy from a nearby computer. To control PATRICK’s motion the researchers constructed a closed-loop system where an offboard OpenCV based camera system is constantly tracking the robot. As shown in the video below with an average velocity of 1 cm/s, PATRICK’s movement is a bit sluggish but the system is supposedly very robust against uncertainties in the environment.

In the future [Zach J. Patterson et al.] would like to improve their design by giving the robot the ability to grasp objects. Ultimately, also the offboard camera should be replaced with onboard sensors so that PATRICK can navigate autonomously.

Soft robots like artificial jellyfish are especially useful underwater and sometimes almost cross the boundary to organic life.

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New Part Day: An Open Source Ethernet Switch In The Palm Of Your Hand

April 21, 2020 by Tom Nardi 92 Comments

When you can get a WiFi-enabled microcontroller for $3, it’s little surprise that many of the projects we see these days have ditched Ethernet. But the days of wired networking are far from over, and there’s still plenty of hardware out there that can benefit from being plugged in. But putting an Ethernet network into your project requires a switch, and that means yet another piece of hardware that needs to get crammed into the build.

Seeing the need for a small and lightweight Ethernet switch, BotBlox has developed the SwitchBlox. This 45 mm square board has everything you need to build a five device wired network, and nothing you don’t. Gone are the bulky RJ45 jacks and rows of blinkenlights, they won’t do you any good on the inside of a robot’s chassis. But that’s not to say it’s a bare bones experience, either. The diminutive switch features automatic crossover, support for input voltages from 7 V all the way up to 40 V, and management functions accessible over SPI.

If you want to get up and running as quickly as possible, a fully assembled SwitchBlox is available to purchase directly from BotBlox for £149.00. But if you’re not in any particular rush and interested in saving on cost, you can spin up your own version of the Creative Commons licensed board. The C++ management firmware and Python management GUI isn’t ready for prime time just yet, but you’ll be able to build a “dumb” version of the switch with the provided KiCad design files.

The published schematic in their repo uses a Microchip KSZ8895MQXCA as the Ethernet controller, with a Pulse HX1344NL supplying the magnetics for all the ports in a single surface mount package. Interestingly, the two images that BotBlox shows on their product page include different part numbers like H1102FNL and PT61017PEL for the magnetics, and the Pulse H1164NL for the Ethernet controller.

Make Networks Wired Again

There’s no question that WiFi has dramatically changed the way we connect devices. In fact, there’s an excellent chance you’re currently reading these words from a device that doesn’t even have the capability to connect to a wired network. If you’re looking to connect a device to the Internet quickly, it’s tough to beat.

But WiFi certainly isn’t perfect. For one, you have to contend with issues that are inherent to wireless communications such as high latency and susceptibility to interference. There’s also the logistical issues involved in making that initial connection since you need to specify an Access Point and (hopefully) an encryption key. In comparison, Ethernet will give you consistent performance in more or less any environment, and configuration is usually as simple as plugging in the cable and letting DHCP sort the rest out.

Unfortunately, that whole “plugging in” part can get tricky. Given their size, putting an Ethernet switch into your project to act as an internal bus only works if you’ve got space to burn and weight is of little concern. So as appealing as it might be to build a network into your robot to connect the Raspberry Pi, motor controllers, cameras, etc, it’s rarely been practical.

This little switch could change that, and the fact it’s released under an open source license means hackers and makers will be free to integrate it into their designs. With the addition of an open source management firmware, this device has some truly fascinating potential. When combined with a single board computer or suitably powerful microcontroller, you have the makings of a fully open source home router; something that the privacy and security minded among us have been dreaming of for years.

Clever Suction For Robot Arm Automates Face Shield Production

April 12, 2020 by Mike Szczys 9 Comments

We’re certainly familiar with vacuum grabbers used in manufacturing to pick items up, but this is a bit different. [James Wigglesworth] sent in some renders and demo video (embedded after the break) of the Dexter robot arm and a laser cutter automatically producing face shields.

It’s a nice little bit of automation, where you can see a roll of plastic on the right side of the Glowforge laser cutter feeding into the machine. Once the laser does its thing, the the robot arm reaches in and grabs the newly cut face shield and stacks it in a box neatly for future assembly. There are a lot of interesting parts here, but the fact that the vacuum grabber is doing it’s job without a vacuum air supply is the one we have our eye on.

The vacuum comes from a corrugated sleeve that makes up the suction cup on the end of the robot arm. A rubber band holds a hinged piece over a valve on that sleeve that can be opened or closed by a servo motor. When the cuff is compressed against the face shield, the servo closes the valve, using the tape as a gasket, and the corrugated nature of the cuff creates a vacuum due to the weight of the item it is lifting. This means you don’t need a vacuum source plumbed into the robot, just a wire to power the servo.

The robot arm is of course the design that won the 2018 Hackaday Prize. I comes as no surprise to see the Haddington Dynamics crew setting up a manufacturing line like this one. As we discovered a few weeks ago, 3D printers, laser cutters, and robot arms are part of their microfactory setup and well suited to making PPE to help reduce the shortage during the COVID-19 outbreak.

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Industrial Robot Given New Life And Controller

April 8, 2020 by Bryan Cockfield 9 Comments

We all think we could use a third arm from time to time, but when we actually play this thought experiment out in our heads we’ll eventually come to the same hurdle [caltadaniel] found, which is a lack of a controller. His third arm isn’t just an idea, though. It’s a Yaskawa industrial robot that he was able to source for pretty cheap, but it was missing a few parts that he’s been slowly replacing.

The robot arm came without a controller or software, but also without any schematics of any kind, so the first step was reverse engineering the wiring diagram to get an idea of what was going on inside the arm. From there some drivers were built for the servos, but the key to all of it is the homemade controller. The inverse kinematics math was done in Python and runs on an industrial PC. Once it was finally all put together [caltadaniel] had a functioning robotic arm for any task he could think of.

Interestingly enough, while he shows the robot brushing his teeth for him, he also set it up to flip the switch of a useless machine that exists only to turn itself off. There’s something surreal about a massive industrial-sized robotic arm being used to turn on a $20 device which will switch itself back off instantly, but the absurdity is worth a watch.

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Teaching Robots Workplace Etiquette

April 1, 2020 by Maya Posch 3 Comments

Most often, humans and robots do not have to work directly together, instead working on different parts in a production pipeline or with the robot performing tasks instead of a human. In such cases any human-robot interaction (HRI) will be superficial. Yet what if humans and robots have to work alongside each other? This is a question which a group of students at MIT’s Computer Science and Artificial Intelligence Lab (CSAIL) have recently studied some answers to.

In their paper on human-robot collaborative tasks (PDF), they cover the three possible models one can use for this kind of interaction: there can be no communication (‘silent’), the communication can be pre-programmed (state machine), or in this case a Markov model-based system. This framework which they demonstrate is called CommPlan and it uses observation data from human subjects to construct a Markov model that can integrate sensor data in order to decide on its next action.

In the experiment they performed (the preparation of a meal; see the embedded video after the break), human subjects had to work alongside a robot. Between the three different approaches, the CommPlan one was the fastest, using voice interaction only when it deemed it to be necessary. The experiment’s subjects expressed hereby a preference for bidirectional communication, much as would occur between human workers.

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