These days, it’s common among us hackers to load a stepper motor with forces in-line with their shaft–especially when we couple them to leadscrews or worm gears. Unfortunately, steppers aren’t really intended for this sort of loading, and doing so with high forces can destroy the motor. Fear not, though. If you find yourself in this situation, [Voind Robot] has the solution for you with a dead-simple-yet-dead-effective upgrade to get your steppers tackling axial loads without issue.
In [Voind Robot’s] case, they started with a worm-gear-drive on a robot arm. In their circumstances, moving the arm could put tremendous axial loads onto the stepper shaft through the worm–as much as 30 Newtons. Such loads could easily destroy the internal stepper motor bearings in a short time, so they opted for some double-sided reinforcement. To alleviate the problem, the introduced two thrust bearings, one on either side of the shaft. These thrust bearings do the work of redirecting the force off the shaft and directly onto the motor casing, a much more rigid place to apply such loads.
This trick is dead simple, and it’s actually over five years old. Nevertheless, it’s still incredibly relevant today for any 3D printer builder who’s considering coupling a leadscrew to a stepper motor for their Z-axis. There, a single thrust bearing could take out any axial play and lead to an overall rigid build. We love simple machine-design nuggets of wisdom like these. If you’re looking for more printer-design tricks, look no further than [Moritz’s] Workhorse Printer article.
Who wouldn’t want a robot that can fetch them a glass of water? [Saral Tayal] didn’t just think that, he jumped right in and built his own personal assistant robot. This isn’t just some remote-controlled rover though. The robot actually listens to his voice and recognizes his face.
The body of the robot is the common “Rover 5” platform, to which [Saral] added a number of 3D printed parts. A forklift like sled gives the robot the ability to pick things up. Some of the parts are more about form than function – [Saral] loves NASA’s Spirit and Opportunity Mars rovers, so he added some simulated solar cells and other greebles.
The Logitech webcam up front is very functional — images are fed to machine learning models, while audio is processed to listen for commands. This robot can find and pick up 90 unique objects.
The robot’s brains are a Raspberry Pi. It uses TensorFlow for object recognition. Some of the models [Saral] is using are pretty large – so big that the Pi could only manage a couple of frames per second at 100% CPU utilization. A Google Coral coprocessor sped things up quite a bit, while only using about 30% of the Pi’s processor.
It takes several motors to control to robot’s tracks and sled. This is handled by two Roboclaw motor controllers which themselves are commanded by the Pi.
We’ve seen quite a few mobile robot rovers over the years, but [Saral’s] ‘bot is one of the most functional designs out there. Even better is the fact that it is completely open source. You can find the code and 3D models on his GitHub repo.
Check out a video of the personal assistant rover in action after the break.
Scarcity on the Internet is the siren song of bot writers. Maybe you’ve lost an eBay bid in the last milliseconds, or missed out on a hacker con when tickets sold out in under a minute — your corporeal self has been outperformed by a bot. But maybe you didn’t know bots are on a buying frenzy in the hyped-up world of fashion. From limited-run sneakers to anything with the word Supreme printed on it, people who will not accept any substitute in wearing the rarest and most sought after are turning to resellers who use bots to snag unobtanium items and profit on the secondary market.
At DEF CON 27 [FinalPhoenix] took the stage to share her adventures in writing bots and uncovering a world that buys and sells purchasing automation, forming groups much like cryptocurrency mining pools to generate leads on when the latest fashion is about to drop. This is no small market either. If your bots are leet enough, you can make a ton of cash. Let’s take a look at what it takes to write a bot, and at the bots-for-sale economy that has grown up around these concepts.
The internet is built with bots in mind and we have Google to thank for this. Their major innovation was moving us off of a curated internet to one that is machine crawled. Everyone wants good Google juice and that means building a site that is friendly to the Google bots that crawl and index the internet. This makes automation for your own purposes quite a bit easier. Namely, the monitor-bots that are used to detect when a retailer has the latest in stock. [FinalPhoenix] demonstrated a simple script that grabs the XML site map, parsing it for newly in-stock items, flagging them when found. But here’s the killer — if your monitor bot is a good one, you can turn it into a discord channel and sell subscriptions to others playing the reseller game, to the tune of $15-30 a month per subscriber.
Example slide of code used in a web-based buy-bot
Once your bot reports stock, the race is on to buy it before anyone else can. For this, you could use the APIs of the site, but that’s time-consuming and a lot easier for retailers to detect and block bot usage. For this part of her botting tools [FinalPhoenix] likes to use web-based bots that go through a browser framework like Chromium and allow obfuscation techniques like scrolling, clicking other items, random pauses, and other simple-minded actions that make your bot appear to be only human. In the examples for this talk, the Puppeteer framework was used for this purpose. In the end, the main role of this part of the bot is to use a verified account to complete the purchase as fast as robotically possible, which is why they’re called buy-bots. Retailers do have some tricks to combat these web-based attacks like adding secret keys in the DOM that need to be sent with the next post, but these are easy to discover and incorporate into the scripts.
This raises up another interesting part of the scheme, the verified accounts. For the best chance at profit, you need multiple accounts, each used just one time to avoid your buy-bot being detected by the retailer. For this, [FinalPHoenix] turns to services that sell accounts in packages of 500-10,000 and cost around just $5-10 per batch.
But wait, here’s where it gets really wild as recursion takes hold. Yes, these buy-bots are for sale (from sites like AIO Bot and usually around $300-1500), but they’re sold in limited quantities so that it’s harder for retailers to notice and take countermeasures. Just like how the clothing was limited release and incentivized bots-wielding resellers to enter the market, there is a secondary market for the bots themselves. [FinalPhoenix] reports that reselling one of these bots can yield $1000-1500 in profit. The same principles apply, and so what we’ve ended up with is bots buying bots to buy clothes. Who knows how many levels of bot-bot transactions there are, but it certainly feels like turtles all the way down.
Bot-based high-speed trading is the real way to make major bank on the securities market. Your average hacker is shut out of that “legitimate” business, but any enterprising programmer has the option of automating whichever reseller market they find most interesting. This breaks the public trust in commerce — buying quality products from a seller connected to their production for a reasonable price. If frustrates the manufacturer, alienates the consumer, but there appears to be little in place preventing it.
Robotics is hard, maybe not quite as difficult as astrophysics or understanding human relationships, but designing a competition winning bot from scratch was never going to be easy. Ok, so [Paul Bupe, Jr’s] robot, named ‘Goose’, did not quite win the competition, but we’re very interested to learn what golden eggs it might lay in the aftermath.
The mechanics of the bot is based on a fairly standard dual tracked drive system that makes controlling a turn much easier than if it used wheels. Why make life more difficult than it is already? But what we’re really interested in is the design of the control system and the rationale behind those design choices.
The diagram on the left might look complicated, but essentially the system is based on two ‘brains’, the Teensy microcontroller (MCU) and a Raspberry Pi, though most of the grind is performed by the MCU. Running at 96 MHz, the MCU is fast enough to process data from the encoders and IMU in real time, thus enabling the bot to respond quickly and smoothly to sensors. More complicated and ‘heavier’ tasks such as LIDAR and computer vision (CV) are performed on the Pi, which runs ‘Robot operating system’ (ROS), communicating with the MCU by means of a couple of ‘nodes’.
The competition itself dictated that the bot should travel in large circles within the walls of a large box, whilst avoiding particular objects. Obviously, GPS or any other form of dead reckoning was not going to keep the machine on track so it relied heavily on ‘LiDAR point cloud data’ to effectively pinpoint the location of the robot at all times. Now we really get to the crux of the design, where all the available sensors are combined and fed into a ‘particle filter algorithm’:
What we particularly love about this project is how clearly everything is explained, without too many fancy terms or acronyms. [Paul Bupe, Jr] has obviously taken the time to reduce the overall complexity to more manageable concepts that encourage us to explore further. Maybe [Paul] himself might have the time to produce individual tutorials for each system of the robot?
We could well be reading far too much into the name of the robot, ‘Goose’ being Captain Marvel’s bazaar ‘trans-species’ cat that ends up laying a whole load of eggs. But could this robot help reach a de-facto standard for small robots?
We’ve seen other competition robots on Hackaday, and hope to see a whole lot more!
Let’s say you’ve watched a few episodes of “The Joy of Painting” and you want your inner [Bob Ross] to break free. You get the requisite supplies for oil painting – don’t forget the alizarin crimson! – and start to apply paint to canvas, only to find your happy little trees are not so happy, and this whole painting thing is harder than it looks.
[Saint Bob] would certainly encourage you to stick with it, but if you have not the patience, a CNC painting robot might be a thing to build. The idea behind [John Opsahl]’s “If Then Paint” is not so much to be creative, but to replicate digital images in paint. Currently in the proof-of-concept phase, If Then Paint appears to have two main components: the paint management system, with syringe pumps to squeeze out different paints to achieve just the right color, and the applicator itself, a formidable six-axis device that supports tool changes by using different brushes chucked up into separate hand drill chucks. The extra axes at the head will allow control of how the brush is presented to the canvas, and also allow for cleaning the brush between colors. The videos below show two of the many ways [John] is exploring to clean the brushes, but sadly neither is as exciting as the correct [Bob Ross] method.
It looks like If Then Paint has a ways to go yet, but we’re impressed by some of the painting it has produced already. This is just the kind of project we like to see in the 2019 Hackaday Prize – thought out, great documentation, and a lot of fun.
We love watching the creativity unleashed by the democratization of once-exotic technologies. The casualness by which one can order a cheap, small run of PCBs has unlocked a flood of fine pitch components and projects which look commercial quality even with a total build volume of one. Now the once mythical flex PCB has been falling from it’s stratospheric pricing and with OSHPark’s offering it feels like we’re at the inflection point. [qwertymodo] leveraged this by creating a beautifully twisted flex to add link port support to the Super Game Boy
In the mid-90’s Nintendo released the Super Game Boy, a cartridge for the SNES which allowed you to play Game Boy games on the big screen. Each cartridge was in fact an entire Game Boy with the appropriate hardware to present it in a way the host console could interface with, but missing some of the hardware a standalone Game Boy would include like a link port to connect it to another system. This mod fixes this limitation by bridging the correct pins out from the CPU to a breakout board which includes the link port connector. For general background on what’s going on here, check out [Brian]’s article from April describing a different mod [qwertymodo] executed to the same system.
What’s fascinating is how elegant the mod is. Using a a flex here to create a completely custom, strangely shaped, one-of-a-kind adapter for this random IC, in low volume is an awesome example of the use of advanced manufacturing techniques to take our hacks to the next level. It reminds us a little of the method [Scotty] used to add the headphone jack to his iPhone 7 back in 2017. At the time that seemed like a technology only available to hackers who could speak a little Mandarin and lived in Shenzhen.
Detailed information on this hack is a little spread out. There is slightly more info in thesetweets, and if you have a Super Game Boy crying out for a link port the adapter flexes are sometimes available here. Look beyond the break to see what the mod originally looked like sans-flex.
Ever since he looked into them as a way to water and care for his plants, [Tom] has been fascinated with cable robots. These high-flying gadgets can move in three dimensions over huge areas, provided you’ve got the ability to string up the aforementioned cables. But despite their flexibility, there hasn’t been a whole lot of hobbyist level development with these unique systems.
With his entry into the 2019 Hackaday Prize, [Tom] is hoping to change that. He’s learned a lot by building his own cable robots, and now wants to take it to the next level. Ideally with collaboration from the community, if he can find other hackers looking to outfit their homes or workshops with their own miniature sky cranes.
So what can you do with a cable robot? In the video after the break, [Tom] shows one of his creations dutifully transporting beer cans across the room and stacking them into a pyramid. Admittedly this isn’t a particularly useful capability (unless you run a bar, perhaps), but it does show the speed and dexterity of the system even when crossing large distances. If you’ve ever wanted to play the home edition of “Automate the Freight”, this one’s for you.
The system uses a trio of 36 volt stepper motors powered by a homebrew SLA7078 driver that [Tom] designed himself. Each stepper turns a geared-down spindle to which a strong cable is attached. With some clever routing around the workspace, careful orchestration of these small winches can be used to move the point where all the cables meet in 3D space. All that’s left is mounting your gadget of choice to this central point, and away you go.
In the mid-90’s Nintendo released the Super Game Boy, a cartridge for the SNES which allowed you to play Game Boy games on the big screen. Each cartridge was in fact an entire Game Boy with the appropriate hardware to present it in a way the host console could interface with, but missing some of the hardware a standalone Game Boy would include like a link port to connect it to another system. This mod fixes this limitation by bridging the correct pins out from the CPU to a breakout board which includes the link port connector. For general background on what’s going on here, check out 
