bcn3d / bcn3d-moveo Goto Github PK

I've been working to control the Moveo with ROS both in simulation and the real, physical robot-- so far I've gotten some nice functionality working and wanted to share with everyone. So far, the following functionality works and you can grab all my work thus far from this repo here, and get it working for yourself:
https://github.com/jesseweisberg/moveo_ros
Video Demo: https://youtu.be/2RcTTqs17O8

1. Simulate motion planning for the Moveo in RVIZ using Moveit (i.e. plan and execute trajectories)
   

2. Read current pose & position of the simulated Moveo end-effector in 3D coordinate space. You can also plan & execute a trajectory by inputting a 3D coordinate and pose for the end-effector.

3. Execute these trajectories on the real robot (using an Arduino MEGA 2560, RAMPS 1.4) so that they match the movement in simulation.

4. There is a ton more to do using ROS to allow the Moveo to do incredible things. I'm currently working on integrating closed-loop control with additional sensors, along with implementing vision feedback to make the control more robust and see how far we can take the Moveo! If anyone wants to contribute or has any ideas for the future of this project, please let me know!

**I'll have a video of all this stuff up and working in the next couple of days

I tried to detail all the steps to get it running on my github repo, but probably missed some, so please let me know if you have trouble getting it up and running. Tested on Ubuntu 16.04, and you may have to make slight modifications if running something else-- but definitely worth it.

-Jesse

Please add wiring diagram to the instruction.

I cannot find the wiring diagram in the resource list. I am puzzled by the problem of wiring. So does it mean we should pay for this diagram?

I’m having trouble finding the correct motors, servos and belts for the stl files provided. I was hoping to get a detailed list/descriptions of the parts their brand names and where to buy them from. My professor said to look on Amazon but I don’t have enough knowledge to select good parts vs bad parts. Any help would be greatly appreciated.

Hi, Could i use a 12v 30A power supply instead of the 24v 15A + converter? I'm haven't found a good electronics diagram so i don't know if i would use the 24v in anything

Estamos preparando lo necesario para montar un brazo Moveo y según el BOM las barras lisas que usáis son de Igus. Concretamente las referenciais como IGUS-WSQ_06, pero dicha referencia por lo que veo se corresponde con guías (http://www.igus.es/Search?q=WSQ-06), no con varillas. ¿Podéis especificar un poco más que tipo de varillas usáis y su diámetro?

Gracias

do any of the parts require supports at all? I could find anywhere in the manual that said anything about it.

I'm getting this error with Arduino 1.8.5

sketch\Marlin_main.cpp:2666:36: warning: invalid suffix on literal; C++11 requires a space between literal and string macro [-Wliteral-suffix]

     LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");

                                ^

In file included from sketch\SdFile.h:27:0,

             from sketch\cardreader.h:8,

             from sketch\Marlin_main.cpp:44:

SdBaseFile.h:38: error: using typedef-name 'fpos_t' after 'struct'

struct fpos_t {

    ^

In file included from sketch\Marlin.h:10:0,

             from sketch\Marlin_main.cpp:30:

c:\users\dave\appdata\local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\avr\include\stdio.h:950:33: note: 'fpos_t' has a previous declaration here

extension typedef long long fpos_t;

                             ^

exit status 1
using typedef-name 'fpos_t' after 'struct'

Good Morning,
We are a group of students who are trying to replicate the construction of this robotic arm and we have encountered a problem that we are not able to solve.
We have used the code provided by Marlin to be able to test all the motors, however we have encountered the problem that the two bottom motors that actually raise and lower the arm do not work correctly.
Mostly we encounter this problem when we make use of the arduino code from https://github.com/jesseweisberg/moveo_ros as we do not get the stepper motor to work correctly and it sounds a strange noise.
We are currently using these motors:
https://www.amazon.es/Edred%C3%B3n-pieza-23-Motor-alambre-drehbank/dp/B077XCHLN2/
And we have these two types of controllers:
https://www.amazon.es/DollaTek-bif%C3%A1sico-m%C3%A1x-Controlador-controlador-impresora/dp/B08HQCZ32N
And the TB6560

We have switched from using the TB6560 to the others because these first ones gave less amps than the motor indicated.
We also have the difficulty that inside the controllers there are some switches that we do not know exactly how to configure them, because we do not know what revolutions to use with these motors.

All the other motors work perfectly and these are the only ones that do not give us problems.

First, thanks for making this hardware open source!

I found lots of export files in this repo (PDF, STL etc.). While those are nice for replication, it's quite hard to edit them for modification or further development.

I suggest the following:

• add source files in native (or at least editable) format to the repo (e.g. BCN3D Moveo BOM.xlsx (or even better: as CSV))
  • so others can contribute
• remove export files (e.g. BCN3D Moveo BOM.pdf)
  • git can't handle binaries in a reasonable way; export formats should be either added to a release or created automatically using CI jobs. creating a release and adding those files there would be the easier option, I guess :)

There is no T2M1D, T2M1I, T3M1, T4M1 in the STL section.

Can the original poster of this please provide a detailed list of where the items were obtained.

This will enable people in other world regions to obtain equivalents.

This project looks fun, but I can't make heads or tails of half the BOM components. There's so much detail missing...

HI! I have just finished building BCN3D Moveo. I use Arduino mega 2560 and Marlin fimeware and TB 5050 stepper motor driver. I connect Nema 23 to the ramps 1.4. The Z Axis stepper motors only step into only one direction with the G code programmer. I connect the stepper to the driver, then to the ramps 1.4.
What should I do? Help me, please.

hi, sorry to open ticket for my question , but actually I'm little lost to find the methods can convert input location (Cartesian , polar) to the optimized cinematic motions of each axis? what is the optimization function & type ?how to define cinematic motion parameters of specific arms? I really appreciated for your hint

When I configure EXTRUDERS 2, I get an error like this, I wonder why

(exit state 1 "DIO" and "-" are pasted, not a valid preprocessing token)

Originally posted by @ilimogren in #26 (comment)

Could someone please provide more accurate information on the motors, I'm trying to source parts in the UK, and the motors listed in the BOM are too generic. The only 1 with enough info was the Nema 14 36mm SM35HT36 > that I can find, but not a clue on any of the others.

EXTRUDERS 2'yi yapılandırdığımda böyle bir hata alıyorum, nedenini merak ediyorum

(çıkış durumu 1 "DIO" ve "-" yapıştırılır, geçerli bir ön işleme belirteci değil)

Hello,

The Bill of Materials isn't very detailed on specifications of parts. Could the list please be updated? Issues such as Power Supply 24V a 12V? Is that supposed to mean 24V DC converter to 12V DC? Also stepper nema 17 R 1:5? Is this supposed to mean a Nema 17 Stepper Motor with 5:1 planetary gearbox? Please review the BOM and update the details so it is easier for other people to make this open source project from BCN3D.

Thanks,

Michael

BCND 3D Move robotunu solidworks tan açtım ve matlab uzantısı olan sim mechanich link yardımıyla xml uzantısına çevirmeye çalışıyorum ama çok uğraştım olmadı internettende bu robotun xml. uzantısını aradım bulamadım .Bu xml uzantısıyla matlab simulink ile kontrol etmek istiyorum bana yardımcı olursanız sevinirim

Moveo is awesome project! Thanks for sharing it!
I finished assembly my Moveo, I would like to drive it with a direct and inverse kinematics.
Someone has already calculated the d-h parameters (Denavit–Hartenberg) of this robot?

Hi, I just bought a sigma to print these things. Is there any advise on printer settings for especially these large components? Like layer height, infill and material choice?

Regards,
Richard

Hello people, I have started building the robot, very cool project.
I printed the parts in PLA. Of course I know that it can tolerate a maximum temperature of 60/70 degrees before it deforms. I must honestly say that I had not estimated that the temperature of the stepper motors could rise so high.

Has anyone also printed the robot using PLA and here is their experience that they would like to share?

Thank you in advance

The following parts are listed in the BoM's but not shown in the instruction manual or the CAD assembly:

LINEAL GUIDES IGUS-WSQ_06-134mm
LINEAL GUIDES IGUS-WSQ_06-114mm
LINEAL GUIDES IGUS-WSQ_06-080mm

Am I missing something or are these not needed?

Thanks!!

This is not an issue with the BNC3D just don't know where to go on Git-Hub to find info. Just finished printing this project. What a great learning experience, and a great project. Thinking what to do with this robotic arm, my thought was to turn it into a 3D printer. I see others have converted there robotic arm into printers. Any helpful hints on where I can go to find information that could help me achieve the transformation. I appreciate any helpful advice. Thank you

Is there someone who knows the total weight of the robot arm?

(output status 1
Pasting "DIO" and "-" does not provide a valid preprocessing token)

Located in the configuration.h file
#define EXTRUDERS 1 i

When I want to do EXTRUDERS 2 I get the following error.

I get the same error. I wonder why.
There is a compilation error.
What should I do. Please help me.

How long does this sucker take to 3d print? I'm guessing a week or so. I only have an Enter Pro V2. Some of the stl files seem bigger than the photos, too.

Finally a software and firmware to control the zortrax or moveo robotic arm.
14days trial. US25 per software. Please support me. Thanks.

Demo: https://youtu.be/wO6RP1ZqzVk

Features:
-Can control two arduino mega with ramps1.4. A total of 12axis.
-12axis can be played in a single gcode file.
-Why 12 axis? Normally a 6axis robotic arm is not sufficient to solve real world problem.
So, the extended axis are used to assist the robotic arm to perform task.
-Use joystick to control.
-Support two types of gripper. Magnetic and servo.
-Auto recording of gcode.
-Can play line by line of gcode and delete a single line of gcode.
-Can save and playback unlimited gcode file.

Download the software and firmware at https://drive.google.com/file/d/0BzSicdTSN7f9V25XYm5UdkxEMzg/view?usp=sharing
Email: [email protected]

Hi,
I've just assembled all machanical parts of MOVEO, and now I making wirring. I have an issue, I don't know how to make connection between stepper motor drivers and ardiuno, which PINs of arduino choose to make everything work. I want to control Moveo with software mentioned in User manual (Pronterface).

May I know how to derive the value of DEFAULT_AXIS_STEPS_PER_UNIT in Configuration.h ?

This could help building their arm with different motor/pulley spec.

I found the calculator here.
https://www.prusaprinters.org/calculator/#stepspermmbelt

I don't know how to get the number from the firmware in
https://github.com/BCN3D/BCN3D-Moveo/blob/master/FIRMWARE/Marlin_BCN3D_Moveo/Configuration.h

#define DEFAULT_AXIS_STEPS_PER_UNIT   {128.5,45.5,206.8019,760*1.1}  // default steps per mm 

Hello, everyone I am having a hard time to put all the files into one assembly in Fusion 360. Is there anybody out there who has managed to do it? I am new to Fusion 360 and CAD in general so I may be not doing it right. No matter how I upload the files they don't assemble into one whole unit as I would like them to be.

Hi.

I've been dealing for eight months. I cannot calculate the dh sun, forward and inverse kinematics of this robot and get an accurate result. I wonder if anyone calculates. If there is, can you send me an e-mail. [email protected]

Hey there,

Since the steppermotors are hard to find and if you get them you have to buy them all over the place i thought i take a look and search a bit.
What i found is one shop that sells all whats needed. Only downside is that the voltage is not 2.8-4V like the one in the original Project. But the steppers i found are all 24VDC. Since the power-supply is also 24V its a match. For the drivers there also capable of 24V and 4Amps. Also the signal input that the driver can register is 4.5-5V and 24V. So this should work. But be warned its not as cheep as the steppers in the BOM-List.
The power supply can handle US and EU grid so its universal i guess :D And 14.6A @ 24VDC is perfect since the steppers draw 9.69A. So there is also enough reserve.

Steppers:
From BOM ID: 1 || Quantity: 1
https://www.omc-stepperonline.com/nema-17-bipolar-1-8deg-45ncm-64oz-in-1-68a-2-8v-42x42x48mm-4-wires-17hs19-1684s1

From BOM ID: 8 || Quantity: 1
https://www.omc-stepperonline.com/nema-17-stepper-motor-bipolar-l-48mm-w-gear-ratio-5-1-planetary-gearbox-17hs19-1684s-pg5

From BOM ID: 9 || Quantity: 2
https://www.omc-stepperonline.com/nema-23-bipolar-3nm-425oz-in-8mm-diameter-4-2a-57x57x113mm-4-wires-stepper-motor-23hs45-4204s1

From BOM ID: 10 || Quantity: 1
https://www.omc-stepperonline.com/nema-14-bipolar-1-8deg-18ncm-25-5oz-in-0-8a-5-4v-35x35x34mm-4-wires-14hs13-0804s

From BOM ID: 11 || Quantity: 1
https://www.omc-stepperonline.com/nema-17-bipolar-1-8deg-22ncm-31oz-in-1-33a-2-8v-42x42x34mm-4-wires-17hs13-1334s

Drives:
From BOM ID: 3 || Quantity: 6
https://www.omc-stepperonline.com/digital-stepper-driver-1-0-4-2a-20-50vdc-for-nema-17-23-24-stepper-motor-dm542t

Power supply:
From BOM ID: 4 || Quantity: 1
https://www.omc-stepperonline.com/lrs-350-24-mean-well-350w-24vdc-14-6a-115-230vac-enclosed-switching-power-supply-lrs-350-24

I hope it help some of you.
Please before purchase verify the technical details.

Since i am not 100% sure if its works i bought the list and try it out. But this will take a long time, so don't wait on my input :)

Greetings Irrlicht.

PS: No native English speaker/writer so sorry for that.

I'm kind of a layman on the subject, so if anyone can answer me which pins of the arduino mega I connect the stepper motor to and the others I would be very grateful.

HI,

Does anyone know if E1 AND E0 on the ramps board can be used with the modified marlin for this project ? I am trying to run them via Pronterface and they are not responsive. They seem to energize when I connect but wont move at all if I send commands or hit the extrude button. DO we need to configure something in the firmware ??? Im stuck !!

Thanks

Hello, can someone who has added Limit Switches to their Moveo project please direct me to their work or get in touch? If this is not possible or practical, can someone please explain why?

Hi
Does anyone know how to controll the servo with g Code.
Because I connectetd the Servo to the Ramps 1.4 and the command M280 P(0_3) S90 isn't working.
I know that the servo is ok, because I cann open it with Command M42 P4 S1, but this command sets the Pinn Value only to high, so i can't controll it exactly and i can't Close it.
Has anyone an Idea how to configure Marlin for the Servo to run it with M280 (g code).
Or is there any other Command for M42, wich controls the Servo exactly instead of randomly?

I would be very thankfull for an Answer
xy23

Which pin set is the servo motor for the claw mechanism connected to on the RAMPS? And how do you control it in pronterface?

Can someone tell me what the maximum print dimension is?

Hi there - I am really sorry for being a pain in asking silly questions. I fully understand that this project is about 3-4 years old now, and i think it is the most amazing project to complete ever, and thank you so much for supplying so much information without charge, and letting it be open source.

I am having trouble finding the correct stepper motors. Can someone please point me in the correct direction?

Many thanks, Rob

https://hackaday.io/project/3800-3d-printable-robot-arm

In the User Manual pdf, steps 4, 5 for Module 2 Assembly (page 11) step 2 for Module 3 Assembly (page 20), and step 2 for Module 4 assembly (page 22), all reference parts that don't seem to be published: T2M1D, T2M1L, T3M1, and T4M. These parts are also listed in the BOM. Can these parts be published?

Hi, I'm thinking of building this arm and using it for a personal project, does anyone have measurements of the robot's workspace? as in the measurements of the area the robot can reach while in operation.

I printed the gripper already and continued with the 4m2 part.

Unfortunately the 4m2 is bigger than the gripper hole distance.

The difference is: ~6mm the Distance between the inner screw holes of the 4m2 is 30mm, the distance between inner screw holes of the gripper is around 23.8mm

I downloaded the parts from thingiverse: https://www.thingiverse.com/thing:1693444/files

Has anyone created a URDF file for the moveo for use in physics simulators?

It seems to be a pretty simple process with access to Solidworks, but a long and daunting one to construct such a complex URDF file from STL files. Unfortunately, I don't have access to Solidworks– if anyone one has Solidworks and can do this, it would save others (myself included) a lot of time and give people the tools to do awesome things in simulation with the moveo!

I need a wiring guide for the arm. I have assembled the arm and wired it using this diagram:

and I would like to know if A. it is correct and B. if so how to get pronterface to work. I uploaded the code to the arduino and tried to use Pronterface but nothing happened.
Thanks!

Sensors or limit switches for homing of each motor haven't been taken into consideration in the design