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Posts from — January 2014

Robot Primer 11: End Effector For Simulation

I’ve put together a simple and unrealistic end effector that I will be using in the rest of this series to help illustrate my topics.  It’s unrealistic because it can’t be manufactured as shown (for example, no pneumatic tubing).

Now for a quick look at what I’ve created:

End Effector

FSW End Effector

The major parts are:

  1. Mounting to robot arm
  2. Smart Camera (a Microscan Vision MINI)
  3. Gripper with pneumatic suction cup (mounted on a Misumi MPPU10 Air Linear Guide)
  4. Second gripper mechanism
  5. My sample part

I choose to use vacuum grippers for simplicity.  Using two gripper adds flexibility, since the robot can exchange parts at the fixture.


FSW Part

It’s a simple part; I made it non-symmetric so it’s easier to see the effects of certain robot sequences.



This fixture is a very simple place to put the part.  Most likely, a real fixture would have a clamp and more connections, but this one is good enough for my planned demonstrations.



January 31, 2014   No Comments

New Year 2014 Notes

I haven’t been able to write much lately, so it’s time for a quick update.

Normally, I don’t have time to post much around Christmas because I like to spend extra time with my family, plus the normal tasks of Christmas Cards, gifts, and such.

I will be continuing the Robot Primer series very shortly; I’ve been spending a lot of time laying the foundations to make the next few posts worthwhile.

I did back a couple Kickstarter projects recently:

  • Charmed Labs’ Pixy, because it features machine vision and an interesting MCU (NXP LPC4330) at an affordable price.
  • The Micro Python board, because I’m curious to see how it turns out.  I hope to find time to do some benchmarks with the BeagleBone (which is comparable in price), Raspberry Pi,  and a comparable eLua board.

I did buy some fun industrial stuff, too, but I’ll wait to describe it until I’ve had time to play with it some more.

I hope to write some more about .NET development; I’m starting to learn about the Reactive Extensions library in detail.  It looks really good (but mind-blowing to a PLC programmer).

Finally, sometime I need to do some more pen and pencil posts; for example, last year I bought two aluminum drafting pencils, the sweet Pentel GraphGear 1000 and my favorite, the awesome Uni Kuru Toga Roulette (which is so great a co-worker bought two after seeing mine).

January 10, 2014   No Comments