Design and development of an innovative drawing robot for @Bristol science Museum
Abstract
[EN] Development and implementation of a vertical drawing robot or autonomous V-plotter for represent the energy generated by the roof top solar array of AT-Bristol Science museum with artistic patterns. This project has been performed as part of internship at Matt Venn Engineering and with the support of RS
Full text
BACHELOR'S DEGREE IN INDUSTRIAL ELECTRONICS AND AUTOMATION ENGINEERING|ETSID
DESIGN AND DEVELOPMENT OF AN
INNOVATIVE
DRAWING ROBOT FOR @BRISTOL
SCIENCE MUSEUM
AUTHOR: GUILLEM CABO PITARCH
TUTOR: DR. D. VICTOR SANTIAGO PRADERAS
COTUTOR:D. MATTHEW VENN
SEPTEMBER 2016
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ABSTRACT
De elopmen and implemen a ion o a e ical d awing obo o au onomous V-plo e o
ep esen he ene gy gene a ed by he oo op sola a ay o AT-B is ol Science museum wi h
a is ic pa e ns.
This p ojec has been pe o med as pa o in e nship a Ma Venn Enginee ing and wi h he
suppo o RS Componen s.
RESUMEN
Desa ollo e implemen ación de un obo de dibujo e ical o V-plo e au ónomo que
ep esen a la ene gía gene ada po las placas sola es del museo de ciencias AT-B is ol en
pa ones a ís icos.
Es e p oyec o se ha ealizado bajo el con enio de p ác icas con la emp esa Ma Venn
Enginee ing y con el pa ocinio de RS Componen s.
RESUM
Desen olupamen i implemen ació de un obo de dibuix e ical o V-plo e au ònom que
ep esen a l’ene gia gene ada pe les plaques sola s del museu de ciències A -B is ol amb
pa ons a ís ics.
Aques p ojec e se ha eali za baix el con eni de p àc iques amb l’emp esa Ma Venn
Enginee ing y el pa ocini de RS Componen s.
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ACKNOWLEDGEMENTS
Special app ecia ion o my amily and Elena o belie e in my and encou age me o do my bes
e e y day.
I wan o his oppo uni y o g a e ully acknowledge o Ma Venn, Angel And es Palau and he
o he colleges o he co-wo king ha help me day by day o g ow as enginee .
Thanks o all he o he people in ol ed in his p ojec he e, in Valencia, and in B is ol.
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INDEX
1. In oduc ion and objec i e __________________________________________ 10
2. Desc ip ion ______________________________________________________ 11
2.a S a e o he a ______________________________________________________ 12
2.b Cus ome s speci ica ion ______________________________________________ 14
2.c P ojec ag eemen ___________________________________________________ 15
2.d Sponso ship ag eemen ______________________________________________ 19
2.e Technical speci ica ions _______________________________________________ 20
3. P ojec de elopmen ________________________________________________ 22
3.a Simula ions ________________________________________________________ 23
I. Tensions ___________________________________________________________________ 23
II. E o s _____________________________________________________________________ 25
3.b So wa e ___________________________________________________________ 27
I. LinuxCNC/Machineki con igu a ion _____________________________________________ 27
II. Communica ions ____________________________________________________________ 29
III. Pa e n gene a ion ___________________________________________________________ 30
3.c Mechanical design ___________________________________________________ 37
I. Cabine & ame _____________________________________________________________ 37
II. Gondola ___________________________________________________________________ 38
III. Mo o s se up _______________________________________________________________ 43
IV. Pape oll __________________________________________________________________ 46
V. Guide pulleys _______________________________________________________________ 48
VI. Cha ging S a ion _____________________________________________________________ 50
VII. Calib a ion ool ___________________________________________________________ 51
VIII. O he pa s _______________________________________________________________ 52
3.d Elec onics _________________________________________________________ 53
I. PSU _______________________________________________________________________ 53
II. BeagleBoneBlack ____________________________________________________________ 53
III. BBB b eakou boa d __________________________________________________________ 55
IV. Gondola ___________________________________________________________________ 57
V. Big digi s ___________________________________________________________________ 58
VI. Cha ging se ups _____________________________________________________________ 58
4. Plans ___________________________________________________________ 62
5. Budge __________________________________________________________ 73
6. Re iew and u u e imp o emen s ____________________________________ 76
7. Conclusions ______________________________________________________ 78
8. Bibliog aphy _____________________________________________________ 79
APPENDIX I, QUICK SETUP USER MANUAL _______________________________________ 83
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APPENDIX II, MATLAB CODE ______________________________________________________ 89
APPENDIX III, RESUME OF SIMULATIONS AND DESIGN PARAMETERS _____________________ 113
APPENDIX IV, MACHINEKIT CODE MODIFICATIONS ________________________________ 117
APPENDIX V, PCB SCHEMATICS _____________________________________________ 133
APPENDIX VI, PLANS OF OTHER MECHANICAL COMPONENTS __________________________ 143
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compu e and i ge good esul s, bu ac ually he e a e in e es ing e sions unning on A duino
and single-boa d compu e s.
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2.b Cus ome s speci ica ion
The cus ome , A -B is ol, loca ed a Ancho Road, Ha bou side, B is ol ,BS1 5DB. Speci y he
ollowing equi emen s:
Deli e y and ins alla ion:
The obo shall be ins alled be o e 21 July.
Foye is open o public se en days a week and ins alla ion mus be pe o med ou o
no mal ope a ing hou s, and ying o a oid o use bulky equipmen as sca olding
owe s i i is possible.
The museum is in e es ed in use as d awing su ace he black wall o he oye and use
chalk o emo able ink.
Wa an y/ echnical suppo ag eemen o bigge issues and ad anced main enance
shall be p o ided.
Design equi emen s:
The obo will be a pe manen ins alla ion ha will be placed a he oye o he
museum, o ha eason he machine shall be eliable and obus .
The d awing a ea o he obo shall be a ound 200 cm2. And he maximum dimensions
o he obo shall be 300 cm wide by 200 cm heigh .
Main enance ask as clean he wall and change he ba e ies shall be pe o med as
maximum once a week.
The d awings shall be done e e y wo minu es.
Sa e y equi emen s:
E en i is no allow o ouch he machine he p ojec shall conside he consequences
o he machine and gua an y he sa e y o he public. Sa e y es will be de ined and
execu ed by he sa e y eam o he museum a e ins alla ion. This es can include:
Sa e isi o in e ac ion
Ope a ion
A -B is ol Design isk assessmen
A -B is ol In-si u isk assessmen
A -B is ol esou ces a ailable:
Local main enance eam ha can be ained o pe o m common ouble shoo ing and
simple ixes.
G aphical ep esen a ion o he da a can be pe o med by in-house g aphic eam i a
speci ic inpu ile ype is p o ided.
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2.c P ojec ag eemen
Pa s o he ag eemen :
This ag eemen conce n wo pa s, he pu chase ep esen ed by A -B is ol wi h physical
add ess Ancho Road, Ha bou side, B is ol ,BS1 5DB. And he supplie Ma Venn based a Ca e
de la República A gen ina, 22, 46021 Valencia.
He eina e oge he e e ed o as he Pa ies
1.Objec i e and scope
A -B is ol will pu chase a cus omized V-plo e om now on called Ene gy D awing
Robo o Ene gy MegaD awz om Ma Venn.
Ch is Dun o d, Sus ainabili y Engagemen manage will ac as p ojec manage o A -
B is ol and Andy Cocco, Senio Design Enginee will ha e esponsibili y o signing o
he inal design o he exhibi .
This ag eemen egula es he igh s and obliga ions be ween pa ies, ega ding design,
pu chasing and ins alling he exhibi in A -B is ol.
2.Scope o Deli e y
The Ag eemen includes he ollowing Exhibi s being supplied o A -B is ol
Exhibi name: X0339-1 Ene gy obo
3.Subcon ac o s
The Supplie is en i led o use subcon ac o s been he supplie he esponsible o ul il
he condi ions es ablished in his ag eemen .
4.P ice and paymen s
The amoun des ined o he p ojec Ene gy MegaD awz wi h e e ence name X0339-1
Ene gy obo is GBP £3.600 included de elopmen , deli e y and ins alla ion, been his
he o al amoun p o ided by he museum.
Cos o on-going consumables is co e ed by he pu chase .
The paymen will be dis ibu ed as ollow:
o 50% on signing o his Ag eemen .
o 40% a e shipmen
o 10% when he accep ance o m is signed by bo h Pa ies.
Paymen shall be made 60 days a e eceip o in oice.
The in oice shall be ma ked: PO#110284 X0339-1 Ene gy Robo and sen by email o:
ch is.dun[email p o ec ed].uk & inance@a -b is ol.o g.uk
5.Packagin and liabili y
The supplie is esponsible o he damages p oduced on he Exhibi X0339-1 Ene gy
obo be o e he deli e y, ins alla ion and es ing. This sec ion does no exclude he
supplie om he subjec ion o o he sec ions.
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6.P ocedu e
The Supplie is obliga ed o comply wi h he ollowing:
o Comply he essen ial ea u es o he inal design speci ied a he end o his
documen .
o Design, de elop and p oduce he Exhibi s, incl. documen a ion and O&M
manual.
o Repo p og ess and quali y o A -B is ol
o Pack he Exhibi and p epa e i o anspo .
o T anspo he Exhibi s o A -B is ol’s building
o Du ing he wa an y pe iod (12 mon hs), epai any de ec s o he Exhibi
epo ed.
o P o ide aining in he main enance and ope a ion o he Exhibi s o A -B is ol’s
employees.
7.Repo ing o aul s and de ec s
Any aul s and/o de ec s o he Exhibi s shall be epo ed o he Supplie wi hin a
easonable ime a e he aul and/o de ec has been disco e ed by A -B is ol.
The Supplie shall epai he aul s and/o de ec s wi hin 10 days a e he aul s and/o
de ec s ha e been epo ed.
Modi ica ions o main enance p ocedu es no speci y by he supplie can a oid he
wa an y.
8.Cus ome igh s
On signing o his Ag eemen , A -B is ol shall ha e all igh s o he main enance
and u he de elopmen o he Exhibi .
9.In ellec ual p ope y igh s
A -B is ol ha e all igh s and owne ship o adema ks, copy igh , design, g aphics and
exp ession o he ‘Robo Encoun e s’ p og amme.
The Supplie shall gua an ee ha he Exhibi is b and new and manu ac u ed o he
pu poses o A -B is ol. The Exhibi shall no be encumbe ed wi h any hi d-pa y igh s,
including any igh s a ising om copy igh and ela ed igh s.
The Supplie will p o ide A -B is ol wi h a non-exclusi e license, unlimi ed in ime, o
he Exhibi . The Supplie is en i led o use he Exhibi in o he ma ke ing.
10.Deli e y
The Supplie shall deli e he Exhibi s o A -B is ol, Ancho Road, B is ol.
All he cos de i ed om anspo a ion shall be included in he con ac cos s.
Supplie shall p o ide he exhibi ollowing he deadlines s ablished in sec ion 11. The
supplie will co e any inancial loss ha can de i a e om he delays in he p ojec . The
maximum compensa ion ha can be equi ed by he pu chase will be o 0,1% o he
p ice s ablished o he p ojec in sec ion 4, o each day o delay.
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11.Time schedule
The supplie shall accomplish he goals s ipula ed in he ollowing schedule:
O de shall be con i med be o e begging o May 2016.
The speci ica ions mus be ix by he pa s be o e May 15 h 2016.
Be ween 15 h o May and 15 h o July 2016 he p og ess o he p ojec mus be
communica ed o A -B is ol wice a mon h.
The exhibi s mus be deli e ed, ins alled and es ed be o e 21 h o July 2016
12.Assis ing wo ke s
The pu chase will p o ide pe sonal o o e see he powe ins alla ion, pe o m he
sa e y es and o he ask explici ly equi ed in his ag eemen .
13.Sa e y egula ions
The Wo king En i onmen Ac and Regula ions o Sys ema ic Heal h, Sa e y and
En i onmen al Ac i i ies in Businesses (HSE Regula ions) applies o he loca ion o he
Exhibi . The pa s shall ensu e ha all ac i i y complies wi h hese egula ions.
14.T ans e o possession
The possession o he Exhibi shall be ans e ed wi h ull unc ionali ies o A -B is ol
on he 22nd July 2016 in o he case sec ion 7 and 10 shall by applied and he p ocedu e
o ans e ence will be delayed.
15. Du a ion
The exhibi shall be designed o ha e a li espan be ween 3 and 5 yea s and he wa an y
pe iod shall be equal o 12 mon hs o m ans e o he possession.
Final speci ica ions
The pa s ha e ag eed he speci ica ions o he exhibi X0339-1 Ene gy obo also e e ed as
Ene gy MegaD awz as ollow:
Deli e y and ins alla ion:
The obo shall be ins alled be o e 21 July.
Foye is open o public se en days a week and ins alla ion mus be pe o med ou o
no mal ope a ing hou s, and bulky equipmen as sca olding owe s a e no allowed.
The obo will be ins alled a he oye , shall d aw o e a pape o one me e wid h.
The supplie does no gua an y ull unc ionali ies o he obo i a wi ed LAN connec ion
is no p o ided, i his apply lack o unc ionali ies will no be conside ed as b each o
con ac .
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The ins alla ion o a s anda d BS 546 socke connec ed o elec ic ci cui and placed
behind he obo cabine will be p o ided by he pu chase .
The d awing obo shall be loo s anding bu shall be secu ely a ached o he wall. The
supplie is allowed d ill holes o he oye wall when necessa y.
Wa an y/ echnical suppo will be p o ided o he i s wel e mon hs a e possession
is ans e ed.
Main enance will be p o ided by he pu chase . The supplie will p o ide
documen a ion o pe o m his asks and a leas one hou o aining.
Design equi emen s:
The obo will be a pe manen ins alla ion ha will be placed a he oye o he
museum, o ha eason he machine shall be eliable and obus .
The d awing a ea o he obo shall be equal o g ea e o 150cm2. And he maximum
dimensions o he obo shall be 300 cm wide by 200 cm heigh .
Main enance ask as clean he wall and change he ba e ies shall be pe o med as
maximum once a week.
The d awings shall be done e e y wo minu es.
The public on pa o he cabine shall be made o anspa en ac ylic, and he
di e en elec ic and mechanical pa s ha o m he sys em shall be isible.
Sa e y equi emen s:
E en i is no allow o ouch he machine he p ojec shall conside he consequences
o he machine and gua an y he sa e y o he public. Sa e y es will be de ined and
execu ed by he sa e y eam o he museum a e ins alla ion. This es can include:
o Sa e isi o in e ac ion
o Ope a ion
o A -B is ol Design isk assessmen
o A -B is ol In-si u isk assessmen
The powe supply shall be ex e nal, and a 30 mA Residual-cu en de ice shall be
ins alled a he AC inpu by A -B is ol be o e inal app o al.
The exhibi shall be a ached o he wall wi h M8 sc ews.
Aluminium ex usion o he ame shall be made wi h 40x40mm aluminium ex usion
p o iles o la ge and connec ed o ea h. This assembly shall be done wi h quick
connec o s.
The weakes poin o he s uc u e shall be able o hold a load o 750N and he heigh o
he cabine shall be g ea e han 750 mm.
Slo s mus be designed o a oid inge s o ge s uck, his will be es ed by he A -B is ol
museum.
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2.d Sponso ship ag eemen
Figu e 3 - RS Componen s
This p ojec caugh he a en ion o RS Componen s in Uni ed Kingdom. The sponso ship
ag eemen was s ablished e bally o e successi e mee ings. The condi ions whe e s ablished
as ollow:
RS ag ees o p o ide 1500 pound in ma e ial o m hei UK s o e and ee shipping.
Ma Venn enginee ing will eco d a se ies o ideos documen ing he de elopmen p ocess, his
ideos will con ain he RS logo.
The head enginee o he p ojec will w i e a blog pos o RS ha will be published a e he
p esen a ion o he p ojec .
The logo o RS will appea in he desc ip ion boa d o he obo while i is ins alled in A -B is ol
museum.
RS can eco d he obo and use his ma e ial wi hou limi a ion.
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2.e Technical speci ica ions
Fo his p ojec we s ablish some in e nal speci ica ions in addi ion o he ag eemen
speci ica ions o each he goals o he cus ome and guide he enginee ing eam on he
de elopmen .
Gene al Speci ica ions
Final pa s can be manu ac u ed wi h 10mm ac ylic, 6mm del in, 3 and 5 mm aluminium,
ABS o PLA 3D p in ed plas ic.
D awing speed shall be con igu able and g ea e han 10mm/s.
P o o ype o he obo shall be assembled locally o de elopmen and es .
Mechanical design shall be made wi h usion 360 o Solidwo ks.
Pieces o lase cu e shall be expo ed o DXF and impo ed o Co elDRAW.
Pieces machined wi h CNC milling machine shall be expo ed o Fusion360. A quali ied
ope a o will gene a e he bes ool pa h and machine he piece.
Managemen
• Task will be scheduled in he T ello pla o m.
• On Mondays mo ning he schedule o he week will be discussed.
• S a e o he p ojec will be epo ed o AT-B is ol and RS Componen s wice a mon h.
PCBs
• Two sided PCBs wi h all he possible 1206 SMD componen s conside ing echnical
limi a ions.
• Design wi h Ki-Cad o Eagle.
• Visual and elec ical inspec ions shall be pe o med be o e connexion wi h powe
supply o o he sys ems.
• M3 moun ing holes shall be included.
• Include ex a pin ou i is possible and al e na i e unc ions o euse he ha dwa e
o o he p ojec s.
Code
Spli he code in unc ions o imp o e eamwo k, main enance and eusabili y.
When ha dwa e is in e aced, c ea e es iles o check all he unc ions
independen ly.
Use Gi Hub eposi o ies o log he modi ica ions.
F ame
• Rende s o he design shall be p o ided o AT-B is ol be o e o de he componen s.
• The use o ac ylic shall be educed as much as possible.
• Use s anda d connec o s and p o iles wi h guides o sc ew in.
Gondola
• Gondola PCB shall be smalle han 100mmx40mm.
• Ba e y shall allow li he ac ua o 303000 be o e discha ge
• Pen shall be easy o adjus wi hou modi ica ions o he ac ua o by main enance
eam.
• Gondola shall be es ed o 200 hou s be o e deli e .
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Mo o s
The mo o s can be se os o s eppe s.
Simula ion o he sys em shall be pe o med o de e mine hei cha ac e is ics be o e
buy he componen s.
Pape moun
Design shall be op imized o educe he amoun o del in necessa y o build i . Ac ylic
canno be used o s uc u al pa s.
Design shall allow o i olls be ween 30 and 90 mm o diame e .
-Replace he pape shall be a one-man ask.
S ing guides
Shall be designed hinking abou appea ance and eliabili y
Componen shall be es ed o mo e han 120 hou s.
Cha ging
De e mine bes op ion be ween induc i e cha ge o con ac cha ge.
Tes o 200 hou s
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3. P ojec de elopmen
This p ojec has been de eloped as esul o he in e nship a Ma Venn Enginee ing. Wo k as
pa o a small eam has allow me o pa icipa e in almos all he pa s o he p ocess. This
memo y co e s he main aspec s o design in a gene al way o keep he cohesion and pays mo e
a en ion o he sec ions whe e mo e wo k load was assigned o me.
This sec ion has ou pa s in unc ion o hei main subjec .
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Figu e 8 - Axis GUI Linux CNC
Fo add he au onomous unc ion we add a py hon in e ace called bipod.py. Tha ile allows o
use he au onomous beha iou . This ile in eg a es communica ions be ween pa s as he
gondola signal, in e al be ween d awings, cha ging sequence, e ce e a…
II. Communica ions
We can iden i y h ee communica ions sys ems in his obo . The i s one is he communica ion
be ween he BeagleBone and he de elope , ha as has been explained be o e can be done in
se e al ways and is al eady implemen ed in he sys em. The second pa is he communica ion
be ween he gondola and he BeagleBone and he hi d one is be ween he se e ha ecei e
he in o ma ion ob ained om he sola panels and he obo .
The communica ion wi h he gondola has been made wi h a wi eless connec ion using wo
xbee2. F om he gondola an ATmega328p p o ide he signal o a capaci i e senso o de ec i
a isi o has in e e ed wi h he obo , he ba e y ol age. And a checksum. A he o he side
Linux does he checksum and i bo h a e he same egis e he in o ma ion o modi y i s
beha iou i somebody ouch he gondola o he ba e y go o low. A he same ime a package
is send back o he gondola o p o ide he posi ion o he se o ha d i es he Z axis.
The obo has communica ion wi h he da a logge o he sola panels, a Sunny WebBox (15),
h ough local ne wo k. The da a o ene gy gene a ion and s a us o he machine is send by Linux
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o he Cu si eDa a (16) se e e e y wo minu es. Ene gy da a is ans o m o a g aphical
ep esen a ion, expo ed o gcode and send i back o he speci ic olde ha Machineki .
All he alues a e eco ded in he se e and displayed in a dynamic webpage powe ed by
eeboa d (17) . This online dashboa d allows o moni o he inpu da a, ac ual d awing, ene gy
gene a ion and o he ad anced pa ame e s o he obo , posi ion, e o s, excep ions,
empe a u e, e c...
Figu e 9 - Robo dashboa d on Cu si eda a se e (18).
III. Pa e n gene a ion
LinuxCNC is designed o pe o m machining asks o ha eason he inpu iles shall be w i en
in g-code wi h he ex ensions .nc, .ngc o .gcode. The axis GUI ha e ools o ans o m pic u es
in JPG o PNG o his o ma none heless be e and mo e p edic able esul s a e ob ained wi h
na i e gcode iles.
We ha e used se e al ways o gene a e he ajec o ies ha we wan ed o d aw in each
si ua ion. Gene al s eps a e design a d awing in ec o o ma , expo i o DXF and ansla e i
o gcode, some imes his p ocess is no s aigh o wa d and equi e adjus he size, eloca e he
o igin o coo dina es and con igu e he p og am o expo he gcode wi h he con igu a ion o
he a ge machine.
We we e in e es ed o es he accu acy and eliabili y o ou sys em o ha eason we designed
some complex geome ical shapes. The geome y allows o easily ecognize mis akes and
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dis o ions o he image and he in e sec ion o e he same poin s help us o check ha he
pape will no b eak due o he ic ion and excess o ink, mo eo e la ge iles help o iden i y i
he sys em ha e blockages o i mechanicals p oblems appea . We use Ma lab, and se e al
sc ip s whe e a pola unc ion change o e i e a ions and he ou pu is plo ed. This pa e n
gene a ion iles and some o he ou pu esul s can be ound in he i ual esou ces unde he
olde Pa e n designs Ma lab.
Figu e 10 – Code and ou pu o Ma lab pa e gene a ion a.m.
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Figu e 11 – Se 1 o pa e ns gene a ed wi h Ma lab
Once he iles a e sa ed in .SVG o ma hey shall be scaled, eposi ion i acco ding o he
coo dina es sys em ha we a e using in he obo and ans o med o DXF. Tha has been made
wi h he open sou ce SVG g aphics edi o Inkscape (19). Once hose asks a e pe o med he
pic u e can be expo ed o gcode wi h se e al applica ions. In ou case we use DXF2GCODE.
Finally, his gcode can be loaded o he Machineki . I he py hon in e ace is unning he ile
shall be placed in he di ec o y / mp/gcodes, ne e heless i he axis GUI is enabled, we can
sea ch he ile h ough any di ec o y, p e iew he design, eloca e i and s a he d awing.
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Figu e 12 - Se 2 o pa e ns gene a ed wi h Ma lab
Ano he way ha we use o design es pa e ns was use Solidwo ks. We design 2D d awings
ha whe e sa ed di ec ly o DXF. Those pa e ns whe e hough o e alua e he li ing
mechanism o he gondola, he accu acy o d aw s aigh lines and ci cles and he capaci y o
manage la ge iles and long p in ing imes. Some o his designs p oduce p oblems o ans o m
i o gcode due o he la ge amoun o segmen s used o d aw accu a e splines. Fo ha eason,
is use ul a oid Tex and expo he designs as polylines ins ead o splines.
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Figu e 13 - es pa _cccc designed wi h Solidwo ks
Those pa e ns whe e use ul o unde s and he limi a ions o DXF2GCODE and spo some
communica ions e o s wi h he gondola and he BeagleBone and ix he mo emen in he Z
axis.
As expe imen we de elop a Ma lab unc ion ha ans o m low esolu ion g ey scale pic u e
di ec ly o gcode, he name o his unc ion was png2gcode_4le els_ho izon al ill.m and can be
ound in he i ual esou ces .Each pixel was ans o med in o a se o lines in he gcode. I he
pixel is black he maximum amoun o lines is d awn and i i s whi e no hing is done.
35
Figu e 14 - Inpu image o png2gcode_4le els_ho izon al ill.m
Figu e 15 -T ajec o y gene a ed wi h png2gcode_4le els_ho izon al ill.m using igu e 6 as inpu and web gcode
simula io n aynaud.gi hub.io/webgcode/
Despi e o he po en ial o his gcode gene a o we decided o s op he de elopmen o pu
mo e e o in o he pa s o he p ojec and keep he sou ce code o u u e p ojec s.
The las way o gene a e he d awings is he op ion used in he usual ope a ion mode o he V-
plo e . We ha e a s eam o da a ha is collec ed by he obo . Tha in o ma ion is deli e ed o
he se e o Cu si eDa a, he in o ma ion is ans o med in o a d awing, when mo e ene gy is
36
gene a ed he shapes become la ge and mo e in ica e. The d awing is now expo ed o gcode
and send i o he obo . Finally, he obo checks i he e is an incoming ile and uns he gcode.
E e y pe al is gene a ed wi h in e als o wo minu es, and only he gcode co esponding o his
pe al is sen e e y ime.
Figu e 16 - Pe als pa e n gene a ed by Cu si eDa a se e om he sola panels ene gy gene a ion o AT-B is ol
museum om 22 o 28 o Sep embe .
37
3.c Mechanical design
These decisions ha e help o inc ease he pe o mance o he obo and ul il he sa e y
speci ica ions, u he mo e he design equi ed o be a ac i e and eliable and was bounded
o he limi a ions o machine y, cos s and ime.
The p o o ypes desc ibed in his chap e ha e been designed o be able o manu ac u e hem
wi h a lase cu ing machine, 3D p in e and a la he. A he same ime he designs shall be doable
wi h small changes on a CNC d illing machine o ge a be e inish.
I. Cabine & ame
This is he la ges s uc u e o he p ojec and was modi ied se e al imes o mee he needs o
supplie and p o ide . Cos , and appea ance whe e undamen al bu also he sa e y was a main
opic specially wi h he ancho poin s.
Figu e 17 - Rende o he inal design app o ed by bo h pa s
The plans o his sec ion a e a ailable on Appendix VI, Mechanical componen s. And a e labelled
wi h he ini ial le e F.
The cabine has a s uc u e o 40x40mm Rex o h aluminium p o iles ha allow easy assembly
wi h T-nu s and quick connec o s. The on pa o he cabine has wo pa s; he op pa is
co e ed wi h 3mm hickness anspa en ac ylic and con ain he mo o s se up, 4 LED displays,
he BeagleBoneBlack and ci cui boa ds and he wo powe supplies.
The lowe pa is used o s o e he ools o main enance as he leng h se e o he pen, he
s ick o eplace he pape , g ease, along wi h o he s.This pa is co e ed wi h whi e enee ed
chipboa d and secu ed wi h a key.
38
As was s a ed in he speci ica ions he s uc u e s ands on he loo bu was also secu ed by wo
M8 sc ews on he op pa .
The pape is placed in he op side o he s uc u e wi h a mechanism explained in subsec ion
IV, O he elemen s, he pape is eed unde an ac ylic pla e o keep i la o e he wood su ace.
A e ha i pass h ough a slo and is clipped o a beam in he lowe pa o he cabine wi h
wo clamps.
As was s a ed in sec ion 2.c P ojec ag eemen he cabine mus be able o hold 750 N on he
weakes poin . Those poin s a e loca ed a 1/4 h and 3/4 h o he beams on he op pa o he
cabine . They we e es ed wi h a load o 80 Kg wi hou damage.
II. Gondola
One o he main elemen s o a V plo e is he ac ua o o gondola, he design o his pa ha e
huge e ec on he d awing quali y. F om Ma lab simula ions we saw ha he numbe o s ings
does no a ec he ension dis ibu ion o he mo o s and wo king a ea. Oscilla ions a e s ic ly
ela ed wi h he cen e o mass and momen . On he one hand, h ee and ou s ings
con igu a ion can educe wobbling, in con as he numbe o s ings inc ease complexi y and
made he design less obus , allowing ha somebody ouch he s ings while he obo is
d awing.
The i s ques ion ha we answe was which ma e ial was be e o link he mo o s wi h he
gondola. O he obo s ha e used iming bel s and sp ocke s bu hey a e expensi e and elas ici y
can in oduce e o s. Beaded co d is cheape and s ill o e good accu acy bu is no designed
o enginee ing pu poses and manu ac u e s does no p o ide s eng h alues o li espan. Ou
choice has been use a s ing made o Ul a High Molecula Weigh Polye hylene o UHMWPE
(20). This ma e ial is 15 imes s onge han s eel ha allow us o use e y hin ligh weigh co ds
wi h eally low elas ici y. The s ing ha we use was 1mm Dyneema wi h a nylon co e o
p o ec he co e om ic ion, b eaking s eng h was g ea e han 550N and elonga ion a 1kg
load, ha was he expec ed weigh o he gondola, ends o ze o.
Figu e 18 UHMWPE Dyneema SK75 / SK60 p ope ies. G aph p o ided by Moo ing Solu ions GmbH
We build a simple gondola wi h h ee a achmen poin o check he di e ences be ween he
se ups o he pic u e abo e expe imen ally.
45
Adding a educ ion gea and use a mo o wi h high holding o que help use o sol e also ano he
p oblem. When he powe o he mo o is disconnec ed as he s eppe has pe manen magne s
we ge a de en (21) o que a ound o he holding o que ha allow a smoo h descend o he
gondola o a sa e posi ion ins ead o all eely and c ash o e he cabine .
Consequen ly we designed he inal e sion o ou mo o s se up wi h he expe ience ob ained
om he expe imen al se ups and he simula ions o ob ain a eliable mechanism ha inc ease
he holding and de en o que o he mo o , allow o w ap he same amoun o s ing wi h each
s ep and p o ide a one-bi encode , c ucial o de e mine he homing sequence equi ed in each
case.
a
Figu e 29 - Rende o he inal mo o s se up
Figu e 30 - De ails o he mo o se up, on he le hand side he e is he educ ion gea and on he igh hand side he
sliding mechanism ha ac i a e he op ical senso and he aluminium spool whe e he s ing is w aped.
The inal mo o se up ha appea in he pic u es abo e has a pla e whe e he mo o is moun ed.
This piece can slide up and down o he aluminium ex usion o adjus he ension on he iming
bel ha connec he mo o and he bel pulley. A he lowe pa he e a e wo del in pa s ha
hold s aigh a od and a spindle. On he igh side o he pic u e o e his lines he e is he
46
componen ha in e up he op ical senso , when he mo o is on he spindle o ce ou piece
o ollow a linea displacemen and ha is used o iden i y i he s ing is coiled o no .
IV. Pape oll
The obo d aws on a pape ha shall be ad anced weekly. Fo make his p ocess easie we
p o ide a s uc u e on he op o he obo whe e a oll o pape can be a ached, in ha way
he ope a o can unclip he ends o he pape loca ed on he lowe pa o he cabine and pull
un il he pape is eplaced wi hou he need o use a ladde o each he op o he ee me e s
all obo .
Figu e 31 - Rende o he inal e sion o pape oll holde
This pa equi es o be locked au oma ically o a oid ha he isi o s pull down he pape . We
use a a che mechanism powe ed wi h he g a i y. The lea e has an asymme ical design, he
cen e o mass is di e en o he o a ion axis, his p oduce a o a ional o ce and make he
lea e engage wi h he cone limi ing he mo emen . When he ope a o wan s o pull down he
pape he only needs o hang a s ick ha is hidden on he lowe pa o he cabine o he ex e nal
pa o he la e , hen he cone can u n eely.
47
Figu e 32 - Pape oll moun ing, open posi ion a le hand side and lock posi ion a igh hand side.
The cone design allows o use pape olls wi h in e nal diame e s be ween 30 and 90mm, i ing
o he cus ome he lexibili y o choose be ween di e en b ands o pape olls.
Figu e 33 - Pape oll assembly in A -B is ol a ins alla ion day.
48
V. Guide pulleys
As he mo o s we e loca ed a he lowe pa o he obo inside he op pa o he cabine , we
needed o send he s ings o he op pa o he obo and a e ha edi ec hem o he
gondola. We mus design a pa ha gua an ee ha i somebody li he gondola he s ing will
con inue in he igh place wi hou ge ing s uck o e en wo s jumping ou making he gondola
all.
In addi ion, we we e in e es ed o keep he ension in he pa o he s ing ha come om he
mo o s o he pulley e en i he o he side, om pulley o he gondola, was loose. Tha will make
easie coil he s ing a ound he spool wi hou mis akes.
In he ini ial se ups we use wo ace al Pulley o 20 mm ha guide he s ings, hey wo k smoo hly
and does no p oduce dis o ion o he d awings bu whe e no able o keep he ension on he
mo o side. Tha make us hink abou implemen a piece ha p o ide enough ic ion o a oid
ha he s ing become lose on he mo o side i somebody li he gondola bu s ill le us o d aw
when he gondola is hanging.
We s a ed designing a MDF pla e whe e he pulley was a ached. A he side o he mo o we
pu wo M3 sc ews ha had a la su ace a he con ac poin wi h he s ing. We hough ha
changing he angle and numbe o u ns ha he s ing made a ound he sc ews will inc ease
he ic ion as in he climbing de ices used o appelling bu he esul s we e no clea .
We con inue wi h his p oblem and we y o use a Pe luo oalkoxy ube, be e known as PFA,
inside a MDF sandwich ins ead o sc ews. This design was mo e aes he ic and gua an y ha he
s ing does no jump ou o he place bu he esul s con inue wi hou be good enough and o
adjus he ic ion was necessa y o make a new piece.
The las expe imen ha we made o design a piece ha hold he ension o he s ing was a
CNC machined piece o del in wi h a zig-zag slo wi h se e al inpu s and ou pu s, in ha way we
we e able o adjus he ic ion easily choosing he numbe o u ns made a he in e io o he
piece.
49
Figu e 34 -Del in ension holde wi h adjus able ic ion
Wi h ha design we saw how pa o he ension emain a he mo o side wi hou become
undone bu we also de ec a dis o ion in he ci cula shapes. As we we e changed se e al
componen s and he posi ion o he mo o s he same day we hough ha he p oblem was wi h
he calib a ion, bu we igno e he p oblem o he momen . A e ew days o in ensi e es ing
we de ec damage on he co e o he s ing. We eplaced again his componen wi h he ini ial
pulleys and he dis o ion disappea ed.
Knowing abou his ulne abili y we decided o include a capaci i e senso in he gondola o
s op he mo ion i somebody ouch i and se he es posi ion a he op o he ame. The
pulleys whe e enclosed inside a Del in case ha allow o a ach hem o he Aluminium ex usion
and gua an ies ha he wi e does no ge s uck a he join s.
50
Figu e 35 - Del in enclosu e o he pulleys used o edi ec he s ing a he op pa o he obo
VI. Cha ging S a ion
As will be explained in sec ion 3.d he cha ging se up changed om an induc i e cha ging o a
egula cha ging, whe e he connec ions whe e physical.
This sys em has a dock on he op o he obo wi h wo a ms wi h a limi ed ange o mo emen ,
he obo is p econ igu ed o es a he cha ging s a ion making con ac wi h he cha ging pads
on he gondola.
51
Figu e 36 - Gondola a cha ging posi ion
The a ms o he cha ging s a ion can be adjus ed and he design o he gondola gua an y ha
he ba e y canno be sho -ci cui ed.
Fo gua an y he eliabili y o his mechanism we bypass he bea ings wi h wi es and Sil e
Conduc i e G ease was applied o con ac su ace o he cha ge and he pads o he gondola.
VII. Calib a ion ool
The design o he pen holde was made hinking abou he main enance. The pen change mus
be done once a week. Ou objec i e was make ha p ocedu e as easy as possible and a oid
changes in he obo , o ha eason he pen can be emo ed o he s uc u e bu an ex a
calib a ion ool was equi ed o adjus he leng h. I he pen is no placed p ope ly he quali y
o he d awings can dec ease o he ip can be always in con ac ega dless o he mo ion o he
Z axis.
52
Figu e 37 - Rende o he calib a ion ool o se he leng h o he pen
VIII. O he pa s
In addi ion o he main unc ional componen s o he obo we designed o he pa s ha we
conside ed no ele an enough o equi e a comple e sec ion on his memo y and ha e been
included on he Appendix VI o i ual esou ces. Some o hose componen s we e only used o
he p o o ypes o expe imen al se ups.
53
3.d Elec onics
I. PSU
Fo he obo we used wo RS p o powe supplies. The i s one is a 156W 1 Ou pu , Embedded
Swi ch Mode Powe Supply (SMPS), 24V dc, 6.5A and was used o d i e he mo o s. The second
one is a 54W powe supply o he same ype ha he i s one bu wi h o ou pu s o 5V,2A and
12V,6A dc.
Figu e 38 - Robo a ins alla ion day, BeagleBoneBlack and BBBBBB PBC on he le hand side, 24V PSU on he middle
and 12V PSU on he igh hand side.
II. BeagleBoneBlack
This is a low cos , open-ha dwa e and open-so wa e single-boa d compu e wi h an ac i e
communi y o use s and compa ible wi h Ubun u. F om he ha dwa e poin o iew, we ha e an
AM335x 1GHz ARM® Co ex-A8 p ocesso , 512MB DDR3 RAM, USB clien , USB hos , E he ne ,
HDMI, mic o-SD adap e , 92 I/O pins and wo P og ammable eal ime uni s (PRU).
54
Figu e 39 - Pic u e o BeagleBoneBlack by Ga e h Hal ac ee (22)
F om he 92 I/O a ailable we only use po P9.
1s unc
Pin numbe
1s unc
2nd unc
gnd
1
2
gnd
3.3
3
4
3.3
led:powe
5
5
6
5
bu :powe
9
10
bu :s op
11
12
bu : ese
gondola
cha ge
13
14
enable
pulled high/low & wi h
led
ys ep
15
16
ydi
xs ep
17
18
xdi
n/a
19
20
n/a
homex
21
22
homey
gpio1
23
24
xbee: x
gpio2
25
26
xbee: x
gpio3
27
28
7seg: le
gpio4
29
30
7seg: sdo
gpio5
31
32
7seg: clk
41
42
7seg:no _oe
se o:con ol
gnd
43
44
gnd
gnd
45
46
gnd
Figu e 40 - Pins used a BeagleBone o he obo and unc ions.
61
The boa d pass he inspec ion bu nei he ecei e o emi e p o ide he expec ed ou pu . In
he emi e wa e o ms shown on he oscilloscope had equency o 15KHz ins ead o he
750KHz equi ed. A e debugging o he design we canno iden i y he ailu e o he esonan
ci cui .
The esona o o he ansmi e was bypassed by an A duino Leona do gene a ing an ou pu
signal o 750KHz o ac i a e he MOSFETs and es he ecei e boa d.
The ecei e passes he same elec ical and isual quali y es han he ansmi e , bu when
he emi e was connec ed he beha iou was also di e en om wha we expec .
We un a mo e de ailed inspec ion. Values and o ien a ion o all he componen s was e iew,
simula ions we e made wi h LTspiceIV and he demo ci cui p o ided by LTC (25). The
simula ions help us o iden i y he signals and debug ou ci cui bu his e o was unsuccess ul.
And we swi ch o a mechanical solu ion. Weeks a e ins alla ion o he obo we iden i y a
design mis ake a he coil inpu o he ecei e and u he de elopmen is scheduled.
The mechanical design was simple om he elec ic poin o iew bu ha de o each he same
eliabili y. The dock s a ion shall be machined om a conduc i e ma e ial and he design shall
allow la e al adjus men and had mobile pa s o con ac wi h he gondola wi hou o ce he
mo o s i he e is a p oblem du ing he homing. Ou solu ion was build a dock wi h 10mm ac ylic
and place wo aluminium a ms on he op, his ma e ial was selec ed because was easy o
machine bu we conce n abou he quick oxida ion ha dec ease he conduc i i y. We es he
cha ging s a ion wi h aluminium a ms o a week wi h good esul s. Fu he es e eal ha a e
longe un he pads can de e io a e educing d as ically he pe o mance. Fo a oid ha
p oblem conduc i e sil e g ease (26) was placed a con ac su aces.
The mechanical sys em has wo elec odes ha come om he BBBBBB PCB and a e connec ed
o he a ms, he bea ing ha is used o join he mobile pa s is bypassed wi h a wi e o educe
conduc i i y issues. Cha ging pads whe e loca ed on he wings o he gondola. Those pins a e
link o he cha ging ci cui h ough a c ocodile connec o .
62
4. Plans
This sec ion con ains some o he mo e ep esen a i e plans o his p ojec and allow o ha e a
good idea o he numbe o elemen s and dis ibu ion. In appendix VI, and i ual esou ces
can be ound he plans o o he componen s, subassemblies and ailed p o o ypes..
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
7 4
6
3
5
21
8
8
8
NUMBER
ID
DESCRIPTION
QUANTITY
1
laye 0
Glue wi h
laye 1
1
2
laye 1
1
3
sc ew_adj
Glue wi h
laye laye 1
1
4
bolisopo emagne ico
_ 2.1
1
5
o med hex
sc ew_am
1
6
sc ew_limi
1
7
pen1
1
8
ISO 7046-1 - M3 x 25 -
Z --- 25N 2
1:2
14/07/2016
C.a
C.a. e_pen_leng h_se e :
Tap holes on 3 and 4 o
co esponden sc ew size. Glue 1,2 and 3.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2
3
5
6
4
1
E_cha ging:
Assembly on g ound be o e ins alla ion. Tap
hole o co esponden s sc ews. Use a 10mm bea ing
be ween 5,6 and 4,6.
NUMBER
ID QUANTITY
1
1300x60_ac ilic
1
2
suppo s ac ilic
2
3
230x40_ac ilic_ op
1
4
180x60_5mm_aluminu
m_a m_le
1
5
180x60_5mm_aluminu
m_a m_ igh
1
6
110x30_5mmaluminum
_doo
2
1:5
CS1.a
06/07/2016
F6
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
7
6
2
8
10
1
5
11
3
9
4
NUMBER
ID QUANTITY
1
base_ 2
1
2
bea ing_connec o _30
mm_ 2
1
3
make slide 100mm
1
4
sopo e odamien os_
21
5
guiale a_6mm
1
6
bolisopo emagne ico
_ 2
1
7
pen1
1
8
wings_bea ing_55mm
2
9
slide _ op_co e
1
10
bea ing30_55
2
11
G5.sa
3
1:2
G5.a
04/07/2016
E_gondola_ 3:
Ex a scews a e equi ed o piece 2. Th eaded oad
o 5cm shall be sc ewed o bo h o 8componen s. Ve i y push i s
be ween 8 and 10. I i is equi ed sc ew piece 5 o 4. Glue magne s
on socke o piece 4. Tap holes when equi ed.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
5
4
3
1
2
6
7
NUMBER
ID QUANTITY
1
m8_ a illa_1000mm
1
2
sopo e_liso_ 2
1
3
sopo e_ anu as
1
4
la e al_ 4
1
5
palanca_ eno
1
6
h_beam_holde
1
7
la e al_ 3_izq
1
1:5
14/07/2016
P.a
Epape _ oll_ 3:
secu e componen s wi h nu s when equi ed.
Use 10mm bea ing a a achmen poin be ween 5 and 4.
73
5. Budge
AT-B is ol science museum ini ially app oached us wi h a budge o £2000. We did some
p ojec ions and esponded wi h a eques o £3000 combined wi h a p o ision o ex e nal
sponso ship. The p ojec would be unde aken i an indus ial pa ne could be ound o
con ibu e an addi ional £1000. RS componen s ag eed o sponso he p ojec wi h ma e ials
om hei ca alogue.
I was unde s ood ha he p ojec was unde unded, bu he oppo uni y o ha e a la ge p ojec
in he oye o one o he UK's la ges science museums was deemed o be wo h he los money
in paymen o labou . Fo his eason, Ma Venn enginee ing accep ed a ound a 3x educ ion
in paymen .
In mid July, we became conce ned wi h he p ojec ed cos o he ame. Andy (senio enginee )
a he museum had speci ied a minimum equi emen o he s eng h o he ame which mean
he o al cos o ma e ials (including labou ) inc eased o £1400. The museum ag eed o inc ease
hei paymen o £3600, and RS ag eed o inc ease hei ma e ial budge o £1500.
The p ojec was comple ed on ime wi h a small su plus o £170, which will be used o ongoing
main enance cos s.
Desc ip ion
Da e
Ca ego y
Cos (£)
Cos (€)
beaglebone black
12/05/2016
Non RS
ma e ials
60,00£
69,00 €
s eppe d i e s d 8825
12/05/2016
Non RS
ma e ials
20,00£
23,00 €
pulleys, ap & die, op os
12/05/2016
Non RS
ma e ials
100,00£
115,00 €
dyneema s ing
18/05/2016
Non RS
ma e ials
20,00£
23,00 €
A u o - pcb design
18/05/2016
Time
150,00£
172,50 €
c imp ool, op os, loc i e, g ub
sc ews, eme g s op
19/05/2016
RS
ma e ials
100,00£
115,00 €
wood o ull size p o o ype
22/05/2016
Non RS
ma e ials
50,00£
57,50 €
cha ge / ecei e p o o ype pcbs
25/05/2016
Non RS
ma e ials
18,00£
20,70 €
componen s o cha ge , s ip
ools, end mills, ally
01/06/2016
RS
ma e ials
220,00£
253,00 €
psu, mo o s, bbbbbb, del in
16/06/2016
RS
ma e ials
330,00£
379,50 €
mo edis o de o leadsc ews, nu s
& bea ings
22/06/2016
Non RS
ma e ials
63,48£
73,00 €
nu s & bol s
22/06/2016
Non RS
ma e ials
73,00£
83,95 €
pcb gondola
22/06/2016
Non RS
ma e ials
21,00£
24,15 €
bbb pcb
25/06/2016
Non RS
ma e ials
60,00£
69,00 €
pape & pens
01/07/2016
Non RS
ma e ials
48,54£
55,82 €
74
aluminium saw blade
01/07/2016
Non RS
ma e ials
28,54£
32,82 €
e u n ligh s o UK
01/07/2016
Expenses
230,00£
264,50 €
la hams o de wood o ame
04/07/2016
Non RS
ma e ials
213,60£
245,64 €
plas ock o de plas ic o ame
05/07/2016
Non RS
ma e ials
266,64£
306,64 €
gondola, wi e and PCB pa s
06/07/2016
RS
ma e ials
140,00£
161,00 €
Nic - ame build & ins alla ion 2
days
18/07/2016
Time
300,00£
345,00 €
Jon - ins alla ion & main enance 1
day
18/07/2016
Time
150,00£
172,50 €
ame o de
20/07/2016
RS
ma e ials
618,00£
710,70 €
Guillem - design, p o o yping, build
- 30 days
01/08/2016
Time
304,35£
350,00 €
Ma - p ojec lead - 30 days
01/08/2016
Time
1.200,00£
1.380,00 €
Ma 's UK expenses
01/08/2016
Expenses
150,00£
172,50 €
Table 3 - Budge componen s by da e
Financial summa y
Cos (£)
Cos (€)
Non RS ma e ials
942,80£
1.084,22 €
RS ma e ials
1.508,00£
1.734,20 €
Time
2.104,35£
2.420,00 €
Expenses
380,00£
437,00 €
To al wi hou RS suppo
4.935,15£
5.675,42 €
To al including RS suppo
3.427,15£
3.941,22 €
@b is ol paymen
3.600,00£
4.140,00 €
P ojec su plus
172,85£
198,78 €
Table 4 - Financial summa y
75
Figu e 49 - Budge dis ibu ion by ca ego y
Es ima ed budge o second uni
Ma e ials
2.450,80£
2.818,42 €
Time
1.354,35£
1.557,50 €
Expenses
380,00£
437,00 €
To al
4.185,15£
4.812,92 €
Figu e 50 - P oposed budge o second uni o he obo
19%
30%
43%
8%
Budge dis ibu ion (%) o o al
Non RS
ma e ials
RS ma e ials
Time
82
83
APPENDIX I, QUICK SETUP USER
MANUAL
84
Use manual and main enance ope a ions
Re .27_07_2016
Gene al ope a ions
Powe o
1. Open cabine
2. P ess sil e bu on
3. Wai ill all blue ligh s on he BeagleBone go ou
4. P ess he ex e nal powe bu on
5. All ligh s inside he cabine should be o
Powe up
1. P ess ex e nal powe bu on
2. Open cabine
3. Wai un il big digi s ligh up wi h cu en ene gy use
4. P ess he sil e bu on - obo will s a homing
5. Be eady o p ess he eme gency s op bu on i he e is a p oblem
Scheduled main enance
Change pen
o Powe o he obo
o Remo e he pencil and he magne ic suppo oge he
o Remo e he pen
o Place he suppo in he socke o he calib a ion ool
o Place he new pen, and se he leng h. Tip shall make con ac wi h he limi
sc ew
o Tu n he adjus men sc ew un il pen is cen e ed and i mly a ached
o Place back he suppo and he assembly on he gondola
Ad ance pape
o Open he cabine
o Remo e he clips ha a e holding he pape
o A ach he s ick ha is loca ed a he in e io o he cabine o he handle o
he pape oll mechanism
o Pull he pape ca e ully owa ds you.
o Replace he clips
o Remo e s ick and s o e in he cabine
85
Pape change
o Tools:
2 x 13mm spanne s
S eps
2 people
Pape elease s ick
o Supply in o ma ion on pape oll:
h ps://www.p izmag aphics.co.uk/uncoa ed-plo e -pape /plo e -pape -
54quo -1372mm-x-50m-90gsm- oll
o Expec o be eplaced wice a yea
O he asks
o Twice a yea g easing he lead sc ews. Migh be nice a he pape change.
T oubleshoo ing
Robo is d awing in he w ong place
o Shu down and u n on he obo . I he e s ill a p oblem, call Local
main enance esponsible.
Robo won’ s a up o shu down
o Call Remo e main enance esponsible.
Robo is unexpec edly o
o I all he blue ligh s a e o , bu he g een ligh s a e on, disconnec main powe
connec o loca ed a he back side and y o s a up like no mal.
o O he wise con ac local main enance esponsible.
Ene gy obo dashboa d
o Use ul o moni o ing he ba e y le el o he gondola and o he pa ame e s.
h p:// eeboa d.cu si eda a.co.uk/index.h ml?load=dashboa d.json
Gondola LEDs
o RED LED licke ing shows communica ion wi h compu e sys em.
o BLUE LED ligh & RED LED o = Cha ging ba e y
o RED LED on = D aw mode
O he Resou ces
Educa ional Video
o The day o day ac i i ies.
h p://www.you ube.com/wa ch? =W1kAjR_QbOw
86
Con ac de ails o Main enance Suppo :
o Jon Pillai, Local main enance: [email protected] 07825661773
o Ma hew Venn, Remo e main enance: ma @ma enn.ne 01290 211 185
87
88
89
APPENDIX II, MATLAB CODE
90
calc.m
%This un ion p o ide he ension o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%(le )Wi ep1: T1,al a
%( igh )Wi ep2: T2,be a
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1, 2] = calc(w,xmax,ymax,xpos,ypos)
=w/1000*9.80665;
al a=a an((ymax-ypos)/xpos);
be a=a an((ymax-ypos)/(xmax-xpos));
1= /(sin(al a)+(cos(al a)/cos(be a))*sin(be a));
2= 1*(cos(al a)/cos(be a));
end
calc.m%This un ion e u n wo ma ix o 1 cm esolu ion co esponding o
% he ensions o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%le side-> Wi ep1: T1,gamma, 1 alues
% igh side->Wi ep2: T2, e a, 2 alues
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1 alues , 2 alues]= ma (w,xmax,ymax)
1 alues= ze os(xmax-1,ymax-1);
2 alues= ze os(xmax-1,ymax-1);
o i = (ymax-1):-1:1
o j=1:(xmax-1)
[a,b]= calc(w,xmax,ymax,j,i);
91
1 alues(i,j)=a;
2 alues(i,j)=b;
end
end
end
pmap.m
%This un ion p o ide a map wi h a esolu ion o 1 uni
%wi h he maximum ensions o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%maximum ensions ma ix is e u ned.
%Wi ep1: T1,gamma
%Wi ep2: T2, e a
%in oduce weig h in g ams and dimensions in cen ime e s
%Dependence o
%h p://www.ma hwo ks.com/ma labcen al/ ileexchange/24253-cus omizable-hea -
maps/con en /h ml/hea map_examples.h ml
unc ion [ max]= pmap(w,xmax,ymax)
max= ze os(ymax-1,xmax-1);
%calcula e alues o wo ensions
[ 1 alues , 2 alues]= ma (w,xmax,ymax);
%ge maximum and e e se yaxis
o i = 1:(ymax-1)
o j=1:(xmax-1)
a= 1 alues(i,j);
b= 2 alues(i,j);
max(ymax-i,j)= max([a b]);
98
%cen e down
end
pa am1calc.m
% his unc ion e u n he minimum ope equi ed o each side
% he equi alen in linea leng h o each s ep and he numbe o u ns
% equi ed o oll all he ope.
%min ope,xmax,ls ep, ymax in cen ime e s
%d od and e o in mm
%as ep in ad
unc ion [min ope,ls ep,as ep,n u ns]= pa am1calc(xmax,ymax,d od,s eps)
%minimum amoun o ope hanging om mo o
min ope = sq (xmax^2+ymax^2);
%angle o a s ep ad
as ep= ((2*pi)/s eps);
%a c ope leng h. This limi a e he esolu ion
ls ep=((d od/2)*as ep)/10;
%numbe o u ns equi ed o min ope
n u ns= (min ope*10)/(2*pi*(d od/2));
end
posangles.m
unc ion [ x,y,al,be,ga] =posangles(xmax,ymax,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he leng hs o he iangle
% Fo his p ocedu e is used cosine heo em
i (l1+l2)<base
99
display('E o inpu L1,L2 shall be g ea e han base')
else
a=base;
b=l1;
c=l2;
syms al be gam;
% a^2=b^2+c^2-2*b*c*cos(al a);
%b^2=a^2+c^2-2*a*c*cos(be a);
%c^2=a^2+b^2-2*a*b*cos(gamma);
es=sol e([a^2==b^2+c^2-2*b*c*cos(al ),b^2==a^2+c^2-
2*a*c*cos(be ),al +be +gam==pi,al >0,be >0,gam>0], [al ,be ,gam]);
al= es.al ;
be= es.be ;
ga= es.gam;
end
[x,y]=posi ionxy(xmax,ymax,l1,l2);
end
posi ionxy.m
unc ion [x,y] =posi ionxy(xmax,ymax,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he base coo dina es and
%leng hs o wi es
% Fo his p ocedu e is used cosine heo em
base=xmax;
i (l1+l2)<base
display('E o inpu L1,L2 shall be g ea e han base')
else
a=base;
100
b=l1;
c=l2;
=0.5*sq ((a+b-c)*(a-b+c)*(-a+b+c)*(a+b+c));
y= /a;
al a=asin(y/l1);
x=cos(al a)*b;
y=ymax-y;
%Debugg plo
%hold on;
%plo (0,0,'d')
%plo (base,0,'d')
%plo (x,-y,'d')
%hold o ;
end
end
posmap.m
% his unc ion p o ide a map o he 3d space o isosceles con ig
%min ope,xmax, ymax in cen ime e s
%ls ep,d od and e o in mm
%all angles in ad
unc ion [y]= posmap(xmax,ymax,d od,s eps,e o )
lbase=xmax/2;
[min ope,ls ep,as ep,n u ns]= pa am1calc(xmax,ymax,d od,s eps);
axis([0,xmax,0,ymax])
ql1=(0:ls ep:min ope);
y=ze os(1,leng h(ql1));
%calcula posibles al u as
101
o i=1:leng h(ql1)
a=xmax/2;
c=ql1(1,i);
y(1,i)=sq ((c^2)-(a^2));
%debido a que el o igen de co denadas se encuen a en la esquina
%in e io izquie da lo asladamos al sis ema global
y(1,i)=ymax-y(1,i);
hold on;
plo (lbase/2,y(1,i),'d')
i (y(1,i)<0)
b eak;
end
end
hold o ;
end
possim1.m
unc ion []= possim1(xmax,ymax,d od,s eps,home 1,home 2,s epe ,pos)
%In oduci xmax, ymax,d od,s eps
%In oduci homing e o
%In oduci ma iz de pun os
%pos = [x0 x1 x2 ... xn; y0 y1 y2 ... yn]
%pos=
% x0 x1 x2 .... xn
% y0 y1 y2 .... yn
%Ob ene pun os caso ideal
%Ob ene pun os cuan ización
%Ob ene pun os cuan ización mas homing e o and s ep e o
102
[min ope,ls ep,~,~]= pa am1calc(xmax,ymax,d od,s eps);
%leng hs in ideal case bu quan izied
l1=(0:ls ep:min ope);
l2=l1;
%s ep e o ec o
ea=s epe ;
eb=-s epe ;
s epe = (eb-ea).* and(1,leng h(l1)) + ea;
%homing e o
l1e =(home 1:ls ep:min ope+home 1);
l2e =(home 2:ls ep:min ope+home 2);
% o al e o
l1e =l1e +s epe ;
l2e =l2e +s epe ;
%plo s code
hold on;
xlabel('x')
ylabel('y')
axis([0 xmax -0.25*ymax ymax])
%blue - ideal poin s
[~,wid h]=size(pos);
o i=1:wid h
ideal=plo (pos(1,i),pos(2,i),'bd');
end
%quan izied posi ion and e o posi ions
[~,wid h]=size(pos);
o i=1:wid h
[ la1,la2] =in e seposi ion(xmax,ymax,pos(1,i),pos(2,i));
103
= l1;
al = la1; % alue o ind
mp = abs( - al);
[~, idx1] = min( mp); %index o closes alue
l1 emp = (idx1); %closes alue
al = la2; % alue o ind
mp = abs( - al);
[~, idx2] = min( mp); %index o closes alue
l2 emp = (idx2); %closes alue
% ed - plo o quan ized leng hs
[x emp,y emp]=posi ionxy(xmax,ymax,l1 emp,l2 emp);
quan =plo (x emp,y emp,' ^');
%black - plo o quan ized leng hs + e o s
l1 emp=l1e (idx1);
l2 emp=l2e (idx2);
[x emp,y emp]=posi ionxy(xmax,ymax,l1 emp,l2 emp);
equan =plo (x emp,y emp,'k*');
end
legend([ideal,quan ,equan ],'ideal','quan ized',' o al')
hold o ;
end
ianglexy.m
unc ion [x,y] = ianglexy(base,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he leng hs o he iangle
% Fo his p ocedu e is used cosine heo em
% be awa e when is used o simula e he obo he base is NOT loca ed a
% x=0,y=0 !
104
i (l1+l2)<base
display('E o inpu L1 + L2 shall be g ea e han base')
else
a=base;
b=l1;
c=l2;
=0.5*sq ((a+b-c)*(a-b+c)*(-a+b+c)*(a+b+c));
y= /a;
al a=asin(y/l1);
x=cos(al a)*b;
%Debugg plo
%hold on;
%plo (0,0,'d')
%plo (base,0,'d')
%plo (x,y,'d')
%holsd o ;
end
end
quad calc.m
%This un ion p o ide he ension:
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
%(le -up)Wi ep1: T1,al a
105
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
% e isa exp esiones modelo
unc ion [ 1, 2, 3, 4] = quad calc(wbaske ,ws ab,xmax,ymax,xpos,ypos)
o =(wbaske +ws ab)/1000*9.80665;
s ab=ws ab/1000*9.80665;
al a=a an((ymax-ypos)/xpos);
be a=a an((ymax-ypos)/(xmax-xpos));
1= o /(sin(al a)+(cos(al a)/cos(be a))*sin(be a));
2= 1*(cos(al a)/cos(be a));
gamma=a an(ypos/xpos);
he a=a an(ypos/(xmax-xpos));
3=( s ab/2);
4=( s ab/2);
% 3= s ab/(sin(gamma)+(cos(gamma)/cos( he a))*sin( he a));
% 4= 3*(cos( he a)/cos( he a));
end
quadma .m
%This un ion e u n wo ma ix o 1 uni esolu ion co esponding o ensions:
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a lowe co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
%(le -up)Wi ep1: T1,al a
106
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1 alues , 2 alues, 3 alues, 4 alues]= quad ma (w,ws ab,xmax,ymax)
1 alues= ze os(xmax-1,ymax-1);
2 alues= ze os(xmax-1,ymax-1);
3 alues= ze os(xmax-1,ymax-1);
4 alues= ze os(xmax-1,ymax-1);
o i = (ymax-1):-1:1
o j=1:(xmax-1)
[a,b,c,d]=quad calc(w,ws ab,xmax,ymax,j,i);
1 alues(i,j)=a;
2 alues(i,j)=b;
3 alues(i,j)=c;
4 alues(i,j)=d;
end
end
end
quad o al pmap.m
%This un ion p o ide a map wi h a esolu ion o 1 uni
%wi h he o al ension o :
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a lowe co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
107
%(le -up)Wi ep1: T1,al a
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
%Dependence o
%h p://www.ma hwo ks.com/ma labcen al/ ileexchange/24253-cus omizable-hea -
maps/con en /h ml/hea map_examples.h ml
unc ion [ max]= quad o al pmap(w,ws ab,xmax,ymax)
o al= ze os(ymax-1,xmax-1);
%calcula e alues o ensions
[ 1 alues , 2 alues, 3 alues, 4 alues]= quad ma (w,ws ab,xmax,ymax);
%ge maximum and e e se yaxis
o i = 1:(ymax-1)
o j=1:(xmax-1)
a= 1 alues(i,j);
b= 2 alues(i,j);
c= 3 alues(i,j);
d= 4 alues(i,j);
o al(ymax-i,j)= a+b+c+d;
end
end
%plo maximum
xlab=1:1:xmax;
ylab=ymax:-1:1;
cl
hea map( o al, xlab, ylab, '%0.2 ', 'Colo map', ' ed',...
'Colo ba ', ue, 'Colo Le els',
100,'MaxColo Value',(w+ws ab)/1000*9.80665*2.5);
114
115
116
117
APPENDIX IV, MACHINEKIT CODE
MODIFICATIONS
118
Bipod.hal
# #######################################
#
# HAL ile o BeagleBone + BeBoP cape wi h 4 s eppe s
#
# De i ed om example hm2-s eppe con ig
#
# ########################################
# Launch he se up sc ip o make su e ha dwa e se up looks good
loadus -w ./se up.sh
loadus -W xbee.py 20
# ###################################
# Co e EMC/HAL Loads
# ###################################
# kinema ics
# load i kins
load bipodkins
se p bipodkins.Bx 2140 # 2200 wide - 60 o he pulleys
# mo ion con olle , ge name and h ead pe iods om ini ile
# ajec o y planne
load p
load [EMCMOT]EMCMOT se o_pe iod_nsec=[EMCMOT]SERVO_PERIOD
num_join s=[TRAJ]AXES p= p kins=bipodkins
#load [EMCMOT]EMCMOT se o_pe iod_nsec=[EMCMOT]SERVO_PERIOD
#load h eads name3=xbee- h ead pe iod3=50000000 # 50ms, xbee akes max 25ms
# load low-le el d i e s
#load hal_bb_gpio ou pu _pins=816,822,823,824,825,826,923,925
inpu _pins=807,808,809,810,817,911,913,922,921
load hal_bb_gpio ou pu _pins=914 inpu _pins=922,921,911
load [PRUCONF](DRIVER) p ucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG) halname=hpg p u_pe iod=4000
load limi 1 coun =2
# ################################################
# THREADS
# ################################################
add hpg.cap u e-posi ion se o- h ead
add bb_gpio. ead se o- h ead
add mo ion-command-handle se o- h ead
add mo ion-con olle se o- h ead
add limi 1.0 se o- h ead
add limi 1.1 se o- h ead
add hpg.upda e se o- h ead
add bb_gpio.w i e se o- h ead
#add xbee xbee- h ead
# ######################################################
# Axis-o -mo ion Speci ic Con igs (no he GUI)
# ######################################################
# ################
# X [0] Axis
# ################
119
# axis enable chain
newsig emcmo .00.enable bi
se s emcmo .00.enable FALSE
ne emcmo .00.enable <= axis.0.amp-enable-ou
ne emcmo .00.enable => hpg.s epgen.00.enable
# posi ion command and eedback
ne emcmo .00.pos-cmd <= axis.0.mo o -pos-cmd
ne emcmo .00.pos-cmd => hpg.s epgen.00.posi ion-cmd
ne mo o .00.pos- b <= hpg.s epgen.00.posi ion- b
ne mo o .00.pos- b => axis.0.mo o -pos- b
# iming pa ame e s
se p hpg.s epgen.00.di se up [AXIS_0]DIRSETUP
se p hpg.s epgen.00.di hold [AXIS_0]DIRHOLD
se p hpg.s epgen.00.s eplen [AXIS_0]STEPLEN
se p hpg.s epgen.00.s epspace [AXIS_0]STEPSPACE
se p hpg.s epgen.00.posi ion-scale [AXIS_0]SCALE
se p hpg.s epgen.00.max el [AXIS_0]STEPGEN_MAX_VEL
se p hpg.s epgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
#se p hpg.s epgen.00.s ep_ ype 0
se p hpg.s epgen.00.s eppin 917
se p hpg.s epgen.00.di pin 918
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmo .01.enable bi
se s emcmo .01.enable FALSE
ne emcmo .01.enable <= axis.1.amp-enable-ou
ne emcmo .01.enable => hpg.s epgen.01.enable
# posi ion command and eedback
ne emcmo .01.pos-cmd <= axis.1.mo o -pos-cmd
ne emcmo .01.pos-cmd => hpg.s epgen.01.posi ion-cmd
ne mo o .01.pos- b <= hpg.s epgen.01.posi ion- b
ne mo o .01.pos- b => axis.1.mo o -pos- b
# iming pa ame e s
se p hpg.s epgen.01.di se up [AXIS_1]DIRSETUP
se p hpg.s epgen.01.di hold [AXIS_1]DIRHOLD
se p hpg.s epgen.01.s eplen [AXIS_1]STEPLEN
se p hpg.s epgen.01.s epspace [AXIS_1]STEPSPACE
se p hpg.s epgen.01.posi ion-scale [AXIS_1]SCALE
se p hpg.s epgen.01.max el [AXIS_1]STEPGEN_MAX_VEL
se p hpg.s epgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
#se p hpg.s epgen.01.s ep_ ype 0
se p hpg.s epgen.01.s eppin 915
120
se p hpg.s epgen.01.di pin 916
# ################
# Z [2] Axis
# ################
se p xbee.scale 20
ne zpos axis.2.mo o -pos-cmd => xbee.pos axis.2.mo o -pos- b
# ##################################################
# S anda d I/O - ES op, Enables, Limi Swi ches, E c
# ##################################################
# C ea e es op signal chain
# D i e so wa e es op o ha dwa e
#ne es op-ou iocon ol.0.use -enable-ou => bb_gpio.p8.ou -26
#se p bb_gpio.p8.ou -26.in e 1
# Moni o es op inpu om ha dwa e
ne es op-loop bb_gpio.p9.in-11 => iocon ol.0.emc-enable-in
#se p bb_gpio.p8.in-17.in e 1
# Axis enable signal (ac i e low)
ne emcmo .00.enable => bb_gpio.p9.ou -14
#se p bb_gpio.p9.ou -14.in e 1
# ################
# Limi Swi ches
# ################
newsig home-x bi
newsig home-y bi
ne home-x <= bb_gpio.p9.in-21
ne home-y <= bb_gpio.p9.in-22
# Uncommen i you ac ually ha e limi swi ches se up
# You p obably wan o se up homing in he INI ile, as well
ne home-x => axis.0.home-sw-in
ne home-y => axis.1.home-sw-in
Bipod.ini
[PRUCONF]
DRIVER=hal_p u_gene ic
CONFIG=p u=0 num_s epgens=3
PRUBIN=xenomai/p u_gene ic.bin
[EMC]
# Name o machine, o use wi h display, e c.
MACHINE = Bipod
# Debug le el, 0 means no messages. See s c/emc/nml_in /emcglb.h o o he s
#DEBUG = 0x00000003
DEBUG = 0x00000007
#DEBUG = 0
[DISPLAY]
# Name o display p og am, e.g., kemc
121
#DISPLAY = axis
DISPLAY = ./bipod.py
# Cycle ime, in seconds, ha display will sleep be ween polls
CYCLE_TIME = 0.200
# Pa h o help ile
HELP_FILE = klinucnc. x
# Ini ial display se ing o posi ion, RELATIVE o MACHINE
POSITION_OFFSET = RELATIVE
# Ini ial display se ing o posi ion, COMMANDED o ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highes alue ha will be allowed o eed o e ide, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
# P e ix o be used
PROGRAM_PREFIX = /home/machineki /machineki /nc_ iles
# Inc emen s o he JOG sec ion
INCREMENTS = 10 1 0.1 0.01
[TASK]
# Name o ask con olle p og am, e.g., mill ask
TASK = mill ask
# Cycle ime, in seconds, ha ask con olle will sleep be ween polls
CYCLE_TIME = 0.010
[RS274NGC]
# File con aining in e p e e a iables
PARAMETER_FILE = p u-s eppe . a
[EMCMOT]
EMCMOT = mo mod
# Timeou o comm o emcmo , in seconds
COMM_TIMEOUT = 1.0
# In e al be ween ies o emcmo , in seconds
COMM_WAIT = 0.010
# Se o ask pe iod, in nanoseconds
SERVO_PERIOD = 500000
[HAL]
# The un sc ip i s uses halcmd o execu e any HALFILE
# iles, and hen o execu e any indi idual HALCMD commands.
# lis o hal con ig iles o un h ough halcmd
# iles a e execu ed in he o de in which hey appea
HALFILE = bipod.hal
# lis o halcmd commands o execu e
# commands a e execu ed in he o de in which hey appea
122
#HALCMD = sa e ne a
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = deg ee
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.00
MAX_LINEAR_VELOCITY = 200.00
MAX_ACCELERATION = 400
# lo s o join ollowing e o s un il I added his:
DEFAULT_ACCELERATION = 200
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 400
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 300.0
STEPGEN_MAX_ACC = 1200.0
BACKLASH = 0.000
SCALE = -25.46
MIN_LIMIT = 150.0
MAX_LIMIT = 2600.0
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 1500
HOME_OFFSET = 1500
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = -10.0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
# Se o ze o i you don' ha e physical home/limi swi ches
# Se o he desi ed homing and la ch eloci y i you ha e swi ches
# See: h ps://gi hub.com/machineki /machineki -docs
# hese a e in nanoseconds
DIRSETUP = 2000
DIRHOLD = 2000
STEPLEN = 10000
STEPSPACE = 10000
[AXIS_1]
TYPE = LINEAR
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 400.0
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 300.0
STEPGEN_MAX_ACC = 1200.0
BACKLASH = 0.000
# dec easing scale inc eases leng h pe s ep
SCALE = -25.46
123
MIN_LIMIT = 150.0
MAX_LIMIT = 2600.0
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 1515
HOME_OFFSET = 1515
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = -10.0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
# Se o ze o i you don' ha e physical home/limi swi ches
# Se o he desi ed homing and la ch eloci y i you ha e swi ches
# See: h ps://gi hub.com/machineki /machineki -docs
# hese a e in nanoseconds
DIRSETUP = 2000
DIRHOLD = 2000
STEPLEN = 10000
STEPSPACE = 10000
[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 200.0
STEPGEN_MAX_ACC = 400.0
MIN_LIMIT = -1
MAX_LIMIT = 8.9
FERROR = 1.0
MIN_FERROR = 0.5
HOME = 8
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[EMCIO]
# Name o IO con olle p og am, e.g., io
EMCIO = io
# cycle ime, in seconds
CYCLE_TIME = 0.100
# ool able ile
TOOL_TABLE = ool. bl
130
i (a gc != 2 || 1 != sscan (a g [1], "%l ", &Bx)) {
p in (s de , "syn ax: %s Bx n", a g [0]);
e u n 1;
}
while (! eo (s din)) {
i (in e se) {
p in ("in > ");
}
else {
p in (" wd> ");
}
lush(s dou );
i (NULL == ge s(bu e , BUFFERLEN, s din)) {
b eak;
}
i (1 != sscan (bu e , "%s", cmd)) {
con inue;
}
i (! s cmp(cmd, "qui ")) {
b eak;
}
i (! s cmp(cmd, "i")) {
in e se = 1;
con inue;
}
i (! s cmp(cmd, " ")) {
in e se = 0;
con inue;
}
i (! s cmp(cmd, " ")) {
i (1 != sscan (bu e , "%*s %d", & lags)) {
p in ("need o wa d lag n");
}
con inue;
}
i (in e se) { /* in e se kins */
i (3 != sscan (bu e , "%l %l %l ",
&pos. an.x,
&pos. an.y,
&pos. an.z)) {
p in ("need X Y Z n");
con inue;
}
i (0 != kinema icsIn e se(&pos, join s, NULL, & lags)) {
p in ("in e se kin e o n");
}
else {
p in ("% % % n", join s[0], join s[1], join s[2]);
i (0 != kinema icsFo wa d(join s, &pos, & lags, NULL)) {
p in (" o wa d kin e o n");
}
else {
p in ("% % % n", pos. an.x, pos. an.y, pos. an.z);
}
}
}
else { /* o wa d kins */
i ( lags) {
i (4 != sscan (bu e , "%l %l %l %d",
&join s[0],
&join s[1],
&join s[2],
& lags)) {
p in ("need 3 s u alues and lag n");
131
con inue;
}
}
else {
i (3 != sscan (bu e , "%l %l %l ",
&join s[0],
&join s[1],
&join s[2])) {
p in ("need 3 s u alues n");
con inue;
}
}
i (0 != kinema icsFo wa d(join s, &pos, & lags, NULL)) {
p in (" o wa d kin e o n");
}
else {
p in ("% % % n", pos. an.x, pos. an.y, pos. an.z);
i (0 != kinema icsIn e se(&pos, join s, NULL, & lags)) {
p in ("in e se kin e o n");
}
else {
p in ("% % % n", join s[0], join s[1], join s[2]);
}
}
}
} /* end while (! eo (s din)) */
e u n 0;
}
#endi /* MAIN */
#i de RTAPI
#include " api.h" /* RTAPI eal ime OS API */
#include " api_app.h" /* RTAPI eal ime module decls */
#include "hal.h"
s a ic kins_ k = {
.kinema icsFo wa d = kinema icsFo wa d,
.kinema icsIn e se = kinema icsIn e se,
.kinema icsType = kinema icsType
};
MODULE_LICENSE("GPL");
s a ic cons cha *name = "bipodkins";
in comp_id, able_id;
in api_app_main( oid) {
in es = 0;
comp_id = hal_ini ("bipodkins");
i (comp_id < 0) e u n comp_id;
halda a = hal_malloc(sizeo (*halda a));
i (!halda a) go o e o ;
Bx = 1.0;
i (( es = hal_pa am_ loa _new("bipodkins.Bx", HAL_RW, &halda a->bx,
comp_id)) < 0) go o e o ;
able_id = hal_expo _ able(name, VTKINEMATICS_VERSION1, & k, comp_id);
i ( able_id < 0) {
api_p in _msg(RTAPI_MSG_ERR,
"%s: ERROR: hal_expo _ able(%s,%d,%p) ailed: %d n",
name, name, VTKINEMATICS_VERSION1, & k, able_id );
e u n -ENOENT;
}
132
hal_ eady(comp_id);
e u n 0;
e o :
hal_exi (comp_id);
e u n es;
}
oid api_app_exi ( oid)
{
hal_ emo e_ able( able_id);
hal_exi (comp_id);
}
#endi
133
APPENDIX V, PCB SCHEMATICS
134
135
136
137
138
139
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2:1
4,40
34,80 6
51,10
30
3
14/07/2016
Sc ew_adj:
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm. Ve i y hickness o a
push i .
C3
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2:1
4,40
24
3
14/07/2016
sc ew_limi :
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm.
C4
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ionDesc ip ion
App o al
Guillem Cabo Pi a ch
Ma hew Venn
Ene gy MegaD awz
Signa u e
Signa u e
Da e
Plan numbe
Scale
Au ho
P ojec
3
133,20
51,10
29,20
2,20
10,40
1:1
14/07/2016
Laye 0:
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm. Ve i y dimensions and
hickness o a push i .
C5
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
40
4
2,22 3,78
5,97 3,02
6 3
20
2:1
04/07/2016
CS0.1
20x40_ancho poin :
Manu ac u ewi h3mmMDF,usealase cu e
wi h ole anceslowe han0,1mm.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
80
4
3
7
3,50
3
10
2:1
04/07/2016
CS0.2
Lea e _10x75_m4:
Manu ac u ewi h3mmMDF,usealase cu e
wi h ole anceslowe han0,1mm.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1
2
E_gondolacha ge _ 1:
Co e con ac a ea wi h cha ging
pads o 2wi h aluminum ape.
NUMBER
ID QUANTITY
1
20x40_ancho poin
2
2
lea e _10x75_m4
2
1:1
04/07/2016
CS0.a
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
5
35
3
10
59,09°
50
25 8,54
2,50
5
160
06/07/2016
180x60_5mm_aluminum_a m_ ig h:
Use an aluminium pla e
o 5mm, ace he op su ace and machine wi h a CNC
d illing machine. Cham e s can be added o he ex e nal
edge. File he edges.Use 1mm abs.
1:1
CS1.1
Ma Venn
Enginee ing
110x30_3mm_aluminum_doo :
Lase cu om 3mm MDF o Use an
aluminium pla e o 3mm, ace he op su ace and machine wi h
a CNC d illing machine. Fo aluminium piece cham e s can be
added o he ex e nal edge, ile he edges and use 1mm abs.
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
3
R10
9,60
R6,75
R2,93
6,45
R1,97
4
45,22
1,59°
106,75
3
06/07/2016
CS1.2
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
50
5
45°
25
7,50
7,50
10
60°
3
R10
R35
R35
14,44
158
2,50
5
06/07/2016
180x60_5mm_aluminum_a m_le :
Use an aluminium pla e o
5mm, ace he op su ace and machine wi h a CNC d illing
machine. Cham e s can be added o he ex e nal edge.
File he edges. Use 1mm abs.
CS1.3
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
Desc ip ion
App o al
Guillem Cabo Pi a ch
Ma hew Venn
Ene gy MegaD awz
Signa u e
Signa u e
Da e
Plan numbe
Scale
Au ho
P ojec
60
1300
17,50
5
15
135
06/07/2016
1300x60_ac ilic:
Use a able saw o cu a piece o 10 mm ac ilic and d ill
holes wi h a d illing owe . Do no emo e he p o ec o il o
he ac ilic.
CS1.4