IEEE Robotics & Automation Magazine - March 2017 - 68
MBED or
DAQ Connector
ESCON
ESCON
(b)
ESCON
(a)
(c)
(d)
Figure 4. The PCB-based electronics box used as an intermittent between the motors/encoders and the PC. (a) The custom-made
motherboard houses three ESCON current driver modules and can be equipped with an attachment for (b) a DAQ connection or
(c) an mbed-compatible microcontroller platform, in which case the motherboard USB port is used to interface with the PC. (d)
The default configuration is to use the DAQ connector.
(a)
(b)
(c)
(d)
Figure 5. User assembly of the wooden haptics device. The 3-D structure is formed from plywood sheets by (a) press-fit finger joints,
(b) stacking and aligning sheets with dowel pins, (c) creating a tensioning mechanism, and (d) mounting the subassemblies (bodies)
with high-quality rods and bearings.
A
C′
B
C
Figure 6. The user-assembled bodies: The base drives body A,
which in turn drives body B and, indirectly through C', body C.
thus digital in the form of order-ready laser-cut flat-sheet vector drawings, printed circuit board (PCB) layouts, and a
spreadsheet of parts and suppliers. The underlying design
files, that is, computer-assisted design (CAD) models and
circuit schemes, are available as well for those interested in
modifying a specific module.
Assembly
All the structural pieces are manufactured from 6-mm plywood sheets using a laser cutter. To form stiff 3-D parts
from the flat sheets, several layers are stacked and held
together with screws. All holes in the plywood parts are
located with submillimeter precision, such that all screws
68
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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march 2017
can self-tap (self-thread) the holes, allowing for quick
assembly and disassembly. Stacked parts are aligned by
inserting dowel pins (precision cylindrical pins) with an
arbor press before adding screws. Bearings are press-fit as
well using the arbor press. In fact, there is no use of bondants or adhesives, resulting in a visually and mechanically
clean, quickly disassemblable, and reconfigurable device.
The kit comes with instructions and video documentation
on how to assemble the main bodies.
The bodies A, B, and C (Figure 6) form the three links or
DoF that together enable the tip of the device (P in Figure 7)
to be moved left and right, up and down, and in and out. Each
DoF is coupled independently to a motor through wire rope.
The angle of each DoF is a fixed ratio to the rotation of the
motor shaft, and therefore the angles are measured by the
encoders mounted on each motor (Figure 8).
Wire Rope Cabling
The device utilizes cable drive for all its transmissions. A
strong steel wire rope transmits the power from each motor to
its own respective link. Figure 8 shows a standard cable drive
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2017
IEEE Robotics & Automation Magazine - March 2017 - Cover1
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IEEE Robotics & Automation Magazine - March 2017 - Cover3
IEEE Robotics & Automation Magazine - March 2017 - Cover4
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