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Project:UMI RTX Robot arm: Difference between revisions

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Project:UMI RTX Robot arm (view source)

Revision as of 23:14, 30 May 2013

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It's part of the hackspace and collaborators are welcome, please get in-touch with [[User:Mentar|Mentar]] (IRC) to find out what you can help. It's a great learning exercise for:
It's part of the hackspace and collaborators are welcome, please get in-touch with [[User:Mentar|Mentar]] (IRC) to find out what you can help. It's a great learning exercise for:
* robotics (doh!)
* robotics (surprise!)
* ROS
* ROS
* arduino
* arduino
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note: (artag) tantalum capacitors of this age have a tendency to die by going short-circuit. If the fuse allows it, they will then burn up fairly vigorously. Depnding on which ones died, you might be able to ignore this (once they've burnt open-circuit) but it would be best to replace the lot. There are about 4 1uF 35V, about 8 10uF 35V, and 1 47uF 35V.
note: (artag) tantalum capacitors of this age have a tendency to die by going short-circuit. If the fuse allows it, they will then burn up fairly vigorously. Depnding on which ones died, you might be able to ignore this (once they've burnt open-circuit) but it would be best to replace the lot. There are about 4 1uF 35V, about 8 10uF 35V, and 1 47uF 35V.
== Reverse engineering ==
[[File:ATA_Plug.svg|thumb|interface cable]]
{| class="wikitable"
|+Pin outs
|-
|Pin
|Function
|-
|1
|Wrist left (roll left + pitch) motor +
|-
|2
|Wrist left (roll left + pitch) motor -
|-
|3
|Wrist right (roll left + pitch) motor +
|-
|4
|Wrist right (roll left + pitch) motor -
|-
|5
|wrist yaw motor +
|-
|6
|wrist yaw motor -
|-
|7
|shoulder yaw motor +
|-
|8
|shoulder yaw motor -
|-
|9
|elbow yaw motor +
|-
|10
|elbow yaw motor +
|-
|11
|gripper motor +
|-
|12
|gripper motor -
|-
|13
|VCC
|-
|14
|?
|-
|15
|?
|-
|16
|?
|-
|17
|GND
|-
|18
|left wrist ch2
|-
|19
|right wrist ch2
|-
|20
|?
|-
|21
|?
|-
|22
|right wrist ch2
|-
|23
|?
|-
|24
|wrist yaw ch2
|-
|25
|?
|-
|26
|?
|-
|27
|?
|-
|28
|?
|-
|29
|?
|-
|30
|?
|-
|31
|?
|-
|32
|?
|-
|33
|?
|-
|34
|?
|-
|35
|?
|-
|36
|?
|-
|37
|?
|-
|38
|?
|-
|39
|?
|-
|40
|?
|}


== Docs ==
== Docs ==
Retrieved from ‘https://wiki.london.hackspace.org.uk/view/Special:MobileDiff/35262’