Pancake Robot (Beta)

(Thumbnail from YouTube video.)

An integration of the Ufactory Lite 6 robot arm with kitchenware to make pancakes.

Includes software for jogging the robot arm with a 3D mouse and recording sequences for playback.

Software

Installation

pip install -r requirements.txt

Example Usage

# Make a pancake
python main.py 192.168.4.100
l
sequences/pancake
p

Input

• Control
  • 3D mouse x/y/z/roll/pitch/yaw: move the arm.
  • x or Ctrl-C: exit
  • l: load sequence from file, e.g. "sequences/pancake"
  • p: play sequence
  • s: save sequence to file
  • c: clear sequence
• Recording
  • r: record current position to sequence
  • 1: record gripper open to sequence
  • 2: record gripper close to sequence
  • 3: record gripper stop to sequence
  • 4: record pause to sequence
  • i: include subsequence from file, e.g. "sequences/open"
  • [: decrease speed to next recorded position
  • ]: increase speed to next recorded position
  • ,: decrease radius to next recorded position
  • .: increase radius to next recorded position

Hardware

• Robot & Control
  • Ufactory Lite 6 Robot Arm & Gripper
  • Spacemouse Compact 3D Mouse
  • Windows Laptop
• Kitchenware
  • DASH Mini Maker Electric Round Griddle for Individual Pancakes
  • Salton Coffee Tea Warmer
  • Merkaunis Soup Ladle 2 oz
  • Pyrex Measuring Cup
  • Dowan 8oz Ramekin
  • Silicone Basting Brush
  • Silicone Spatula
• Fabrication Materials
  • 2' x 2' 1/2" plywood panel
  • 1/4" HDPE Sheet
  • Cyanoacrylate Glue
  • 5x2mm Magnets
  • #4 Wood Screws
  • #8 Wood Screws
• Shop Tools
  • Scroll saw
  • Belt sander
  • Hand drill