Handling GRO

Projet S4 Université de Sherbrooke

UdeS-GRO | 65^th Promotion | 2021

This is an academic project by robotics engineering students at Université de Sherbrooke. Handling GRO is a four degrees of freedom robot.

Table of Contents

• Authors
• Setup
• Documentation
• Recommended manufacturing device
• External Resources
  • Single-Board Computer
  • Controller_OpenCr
  • Dynamixel motors
  • Steppermotor
  • DriveBoard (with steppermotor)
  • Servomotor
  • Power Supply: Motor/(OpenCr or Arduino)
  • Linear Rods
  • Linear bearing
  • Timing belt
• License

Authors

• Olivier Demers - Initial work - chameau5050
• Jérémy Giguère - Initial work - gigj1302
• Philippe Gadeyne - Initial work - gadp1401
• Francis Amyot - Initial work - FrancisAmyot
• Vincent-Xavier Voyer - Initial work - Theparky105

Setup

1. Buy the component in the External Resources section.
2. Use the CAD models to 3D print all the different parts of the robot.
3. Assemble the robot according to the assembly guide.
4. Do the electrical connections using the electrical schematics in the documentation section.
5. Set up the Raspberry Pi by connecting it with the OpenCr, your computer and the to a power source.
6. Download or clone the repository in the Raspberry Pi.
7. Verify your Python version (3.5 and above) and the port series.
8. Build and transfer all the code to the OpenCr (or Arduino). See Compilation procedure documentation.
9. Build and transfer all the code to Raspberry Pi. See Compilation procedure documentation.
10. Open the interface and look your new Handgling GRO robot in action.
11. Congigure UI with Qt
12. For more information, see the documentation section

Documentation

All the different information is available here in the project wiki.

Recommended manufacturing device

The following rapid design devices are required for this project are:

• For plastic part

  • 3D Printer

• For wood part (choose one of the 2 following choices)

  • Laser cutter
  • Basic tools for wood (drill, saw, sand paper, ...)

External Resources

This section specifies the external resources used in the project.

Single-Board Computer

• Brand: Raspberry Pi
• Model: Raspberry Pi 3 Model 3B+
• Quantity: 1

Microcontroller

• Brand: OpenCr
• Model: OpenCr
• Quantity: 1

Microcontroller (optional)

• Brand: Arduino
• Model: Mega 2560 REV3
• Quantity: 1
• **If you want to use other motors than dynamixel motors, you can.

Dynamixel_motors

• Brand: Dynamixel
• Model: XM430-W350
• Quantity: 4

Steppermotor

• Brand: Elegoo
• Model: 28BYJ-48
• Quantity: 1

DriveBoard (with steppermotor)

• Brand: Elegoo
• Model: ULN2003
• Quantity: 1

Servomotor

• Brand: Miuzei
• Model: Miuzei Servo Motor 20 Kg
• Quantity: 1

Power Supply: Motor/(OpenCr or Arduino)

• Brand: PowerPayless Inc
• Model: B01CYZWAWY (65107)
• Quantity: 1

Linear Rods

• Brand: yqltd
• ASIN: CNBTR4040 road
• Quantity: 2

Linear bearing

• Brand: yqltd
• ASIN: CNBTR4040 bearing
• Quantity: 4

Timing belt

• Brand: Uranny
• ASIN: Timing Belt 6mm Wide & 10X 5MM Pulley for 3D Printer
• Quantity: 1

License

This project is licenced under a license.