Hackaday Prize Entry: A Low-Cost Robot Arm

Robot arms are cool, and to judge from the SCARA arms and old Heathkit robots tucked away in a cupboard of every computer science department in every university in the world, they’re still remarkably educational. You can learn a lot about control systems with a robot arm, or you could build a clone of the old Radio Shack Armatron; either way, you’re doing something very cool. Right now, there aren’t many educational robot arms available, and the ones you can get are tiny. For [Jonathan]’s Hackaday Prize project, he’s building a low-cost robot arm with a one meter reach.

There’s a reason you won’t find many large, low-cost robot arms: the square cube law. An ant can carry many times its own body weight, but if you scaled that ant up to the size of a human, its legs couldn’t support itself. Likewise, a small, handheld robot arm will work perfectly well with hobby servos, but scaling this up requires big heavy stepper motors.

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Two Guys, A Hotel Room And A Radio Fire

Can you build a HF SSB radio transciever in one weekend, while on the road, at parts from a swap meet? I can, but apparently not without setting something on fire.

Of course the swap meet I’m referring to is Hamvention, and Hamvention 2016 is coming up fast. In a previous trip to Hamvention, Scott Pastor (KC8KBK) and I challenged ourselves to restore tube radio gear in a dodgy Dayton-area hotel room where we repaired a WW2 era BC-224 and a Halicrafters receiver, scrounging parts from the Hamfest.

Our 2014 adventures were so much fun that it drove us to create our own hacking challenge in 2015 to cobble together a <$100 HF SSB transceiver (made in the USA for extra budget pressure), an ad-hoc antenna system, put this on the air, and make an out-of-state contact before the end of Hamvention using only parts and gear found at Hamvention. There’s no time to study manuals, antennas, EM theory, or vacuum tube circuitry.  All you have are your whits, some basic tools, and all the Waffle House you can eat.  But you have one thing on your side, the world’s largest collection of surplus electronics and radio junk in one place at one time.  Can it be done?

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Gyroman Walks With Just One Motor

For some reason, we seem to really want our robots to walk on two legs like we do. And this despite how much the robots themselves want to be made out of motors, which match up so naturally with wheels. The result is a proliferation of inventive walking mechanisms. Here’s another.

Gyroman is a 3D printed gyroscope with legs. The gyroscope is geared down to lift one leg and then the other. First-semester physics, that we still find a little bit magical, makes the gyro precess and the robot turns a bit. Time these just right and it walks. See the video below for a demo. (Admittedly, Gyroman looks like he’s had a bit too much to drink as he winds down.)

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Up Your CAD Game With Good Reference Photos

I’ve taken lots of reference photos for various projects. The first time, I remember suffering a lot and having to redo a model a few times before I got a picture that worked. Just like measuring parts badly, refining your reference photo skills will save you a lot of time and effort when trying to reproduce objects in CAD. Once you have a model of an object, it’s easy to design mating parts, to reproduce the original, or even for milling the original for precise alterations.

I’m adding some parts onto a cheap food dehydrator from the local import store. I’m not certain if my project will succeed, but it’s a good project to talk about taking reference photos. The object is white, indistinct, and awkward, which makes it a difficult object to take a good photo for reference use in a CAD program. I looked around for a decent tutorial on the subject, and only found one. Maybe my Google-fu wasn’t the best that day. Either way, It was mostly for taking good orthogonal shots, and not how to optimize the picture to get dimensions out of it later.

There are a few things to note when taking a reference photo. The first is the distortion and the setup of your equipment to combat it. The second is including reference scales and surfaces to assist in producing a final model from which geometry and dimensions can be accurately taken. The last is post-processing the picture to try to fight the distortion, and also to prepare it for use in cad and modeling software.

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What’s The Weather Like For The Next Six Hours?

The magic glowing orb that tells the future has been a popular thing to make ever since we realized we had the technology to bring it out of the fortune teller’s tent. We really like [jarek319]’s interpretation of the concept.

Sitting mystically above his umbrella stand, with a single black cord providing the needed pixies for fortune telling, a white cube plays an animation simulating the weather outside for the next six hours. If he sees falling drops, he knows to grab an umbrella before leaving the house. If he sees a thunderstorm, he knows to get the umbrella with the fiberglass core in order to prevent an intimate repeat of Mr. Franklin’s early work.
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Searching For USB Power Supplies That Won’t Explode

USB power supplies are super cheap and omnipresent. They are the Tribble of my household. But they’re not all created equal, and some of them may even be dangerous. I had to source USB power supplies for a product, and it wasn’t easy. But the upside is that I got to tear them all apart and check out their designs.

In order to be legitimate, it’s nice (but not legally required) for a power supply to have UL approval. Some retailers and offices and building managers require it, and some insurance companies may not pay claims if it turns out the damage was caused by a non-UL-approved device.  UL approval is not an easy process, though, and it is time consuming and expensive. The good news is that if you are developing a low voltage DC product, you can pair it with a UL approved power supply and you’re good to go without any further testing necessary.

power_supply_1_overviewIf you are going for FCC approval and are having unintentional emissions testing done (which is more likely than UL as it’s a legal requirement for products that meet certain qualifications), the testing has to be done on the whole solution, so the power supply must be included in the testing, too.

Sourcing cheap electronics in large quantities usually ends up in China, and specifically Alibaba. First, we started with a how-low-can-you-go solution. This wasn’t even a power adapter; it was a power “adapteP”, and the whole batch was mis-printed. Quality control could not be a high priority. After cutting it open, it wasn’t terrible, and it had all the necessary parts. It was surprising how much of it was through-hole, which indicates that the assembly was done mostly by people. That happens when factories are cheaper, hire inexpensive labor, don’t invest in technology, and don’t care as much about quality.

There are certain things you should look for in a power supply to determine the level of risk:

  • Isolation Distance – This is how much space there is between the primary (AC) and secondary (DC 5V) sides. UL requires a few millimeters, and often you’ll see two separate PCBs. On many single-PCB solutions you’ll see a white line meander across the board to distinguish between the two. The smaller this separation, the closer your USB power is to AC line voltage, and if the gap is bridged somehow, you’re in for a world of hurt.
  • Fuse – if there is a short, a lot of current starts flowing, components heat up, and things get dangerous. A thermal cut-off (TCO) fuse (also known as a resettable fuse or a PTC) is a component that breaks the circuit when it gets too hot, like a circuit chaperon. When it cools off, the TCO resets and you can plug the device back in with no harm done. Without the fuse, the supply heats up and current keeps flowing until a component fries, sometimes explosively.
  • Connectors – You don’t want bare leads hanging out in space where they could move and touch something. You don’t want the USB port to be soldered only by its four pins. You don’t want the power pins to be loose.
  • Decent Label – “Adaptep”? Yes, to someone who uses a different alphabet the “P” and R are very similar characters. But still. Also, fake certifications abound. Look for the difference between the CE (China Export) and the CE (Conformité Européenne) labels. And the UL Logo should have a number. So should an FCC label.

So this first adapter? Isolation distance was fine because it was two separate boards, but there was no fuse and no protective tape between components. The connectors were all secure, but the label didn’t make any promises. As for performance, output at 5.34V under my product’s load meant it was a little outside of USB spec (5.25V limit), but not dangerous. On the scope it was ringing with a peak at 5.5 V at 4 kHz.

Of course, sourcing this supply for a second batch proved tricky, and we wanted the USB plug to come out the side instead of the front so it would have a thinner profile against a wall. Additionally, we needed UL approval for a client. Our second attempt was surprisingly successful. This adapter had UL certification, with a number to look up. Note that just having a number isn’t enough; many companies will just put someone else’s number on their product and assume nobody will bother to check. So when you do look it up, and find a different manufacturer, a different enclosure, and it looks more like a refrigerator than a USB power supply, don’t be too surprised. But no, this particular one was great! The label had a company name on it, model number and specs, and certifications that could be verified. Let’s tear it open!

power_supply_2_overviewSweet sweet silicon meat inside an ABS shell! Components wrapped in protective tape, two PCBs for isolation, and even a special injection-molded plastic piece to add additional protection. Components are labeled, and what’s this, an IC to control the oscillation instead of a feedback winding on the transformer? Fancy! It’s pretty clear that this power supply is good, and I’d trust this one.

Comparing this one to the others, there were so many noticeable little details that are important and clearly thought-out. Take, for example, the connection between the prongs and the PCB. On the previous board, it was made with wires soldered by hand. Solid, but time consuming and prone to failure or quality issues. This adapter has metal contacts that snap into the case very solidly so that the prongs cannot get loose. The connection to the PCB is via the springiness of the metal, but notice that the PCB has pads specifically designed to maximize the surface area of that connection. On the next PCB you’ll see no such effort.

Some components were covered in shrink tube, tape, or non-conductive grey adhesive. The assembly was tight with no room for components to shake loose or accidentally touch. And the output was perfect. 4.9 Volts with nary a ripple.

But this is China, and component sourcing problems are a thing, so I guess I shouldn’t have been surprised when these supplies were no longer available. In retrospect, maybe these were unsold overstock, or possibly QC rejects. That would explain why they were only slightly more expensive than the others. And so we moved on to another supplier; one that could pad-print our logo on top.

power_supply_differencesAt first glance these power supplies appeared identical. But close inspection reveals slight differences in the style around the USB and the raised ridges on the underside. The label was completely different, and gone was the number next to the UL logo. There was no company name on the supply either, and the company we purchased from turned out to be a reseller and not the OEM. Also, why was the output 4.7-5V, and why did my scope say 5.5V (but surprisingly stable)?

Inside was a completely different beast. Using a single PCB, the creep distance was about a millimeter. You can see the white line meandering through the bottom of the PCB that shows the high and low sides. The USB port wasn’t soldered to the PCB except by the four signal/power pins (see the bottom side lower left and the hanging USB connection pins), and there was a capacitor with really long uncovered leads and the positive side dangerously close to the USB shell. There was almost no protective tape, no shrink tube on the leads, and no protection in case of a short.

 

In the end, I wouldn’t trust the two non-UL supplies with anything worth more than a few bucks, and certainly not my cell phone. I’d have really big reservations about reselling them to customers who don’t know the difference. The UL-approved one was great, but the other two are only good for powering low-current-draw devices that are not sensitive to voltage. Also, finding a reliable supplier in China is HARD.

Check out a much more thorough analysis of this and pretty much every USB power supply cube by [Ken Shirriff]. It’s surprising how little has changed in four years with these supplies, and his analysis goes into how the circuits behind these supplies work, identifying each component and its purpose.

We also covered a Sparkfun teardown of some power supplies with similar conclusions, and a Fail of the Week in which a faulty USB power adapter was the likely cause of a fire.

ImplicitCAD: Programmatic CAD Built With 3D Printing In Mind

Cornerstone of many useful things: This Prusa i3 part was modeled in OpenSCAD.

Programmatic CAD, in particular the OpenSCAD language and IDE, has accompanied the maker movement for a while now. After its introduction in 2009, it quickly found its way into the 3D printing toolbox of many makers and eventually became what could be called an Industry Standard among open hardware labs, makerspaces and tinkerers. The Prusa i3, one of the most popular DIY 3D printers, was designed in OpenSCAD, and even Makerbot, the company that sold 100.000 3D printers, uses the language for its “Customizer” – an online tool that allows users to customize 3D printable models with minimal effort.

OpenSCAD is indeed a wonderful tool, and we have been using it a lot. We have become used to its quirks and accepted working with polygon mesh approximations of the models we are trying to design. We have made our peace with excessive rendering times, scripting workarounds and the pain of creating fillets, and we have learned to keep our aesthetic expectations low. We are happy with the fact that there is a way to programmatically create and share virtually any object, but sometimes we wish there was a better way in the open source world. Hint: there is.

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