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Hand: open-source Robot Hand

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Re: Hand: open-source Robot Hand

#101

Post by _carbyau_ »

Brajeshwar wrote: post #32

Here is what I’m more keen on, rather than the human-like robots that we are all expecting. For instance, I would like a wall-mounted or floor-standing multi-arm robot that serves as a kitchen assistant. One can add or reduce arms as needed/desired. It is custom-equipped with a fire extinguisher, thermometer, and the usual must-haves for a kitchen. It will hold the cutlery, plates, and other items as needed. It will…

I don't want arms in the kitchen just yet though I'm happy for someone else to beta test that.

But arms to move laundry from dirty clothes -> washer -> dryer -> clean clothes basket? Relatively defined, repeatable interactions with a worst case of wrecking some clothes seems a safer place to start.

Re: Hand: open-source Robot Hand

#102

Post by jagged-chisel »

_carbyau_ wrote: post #101
Brajeshwar wrote: post #32

Here is what I’m more keen on, rather than the human-like robots that we are all expecting. For instance, I would like a wall-mounted or floor-standing multi-arm robot that serves as a kitchen assistant. One can add or reduce arms as needed/desired. It is custom-equipped with a fire extinguisher, thermometer, and the usual must-haves for a kitchen. It will hold the cutlery, plates, and other items as needed. It will…

I don't want arms in the kitchen just yet though I'm happy for someone else to beta test that. But arms to move laundry from dirty clothes -> washer -> dryer -> clean clothes basket? Relatively defined, repeatable interactions with a worst case of wrecking some clothes seems a safer place to start.

I think the washer-dryer integrated unit handles the first bit without moving the clothes. Add the ability to dump dry clothes into a basket and voila!

Re: Hand: open-source Robot Hand

#104

Post by Animats »

bigiain wrote: post #100
Animats wrote: post #78

Earlier quoted context omitted.

They're little linkage parts, mostly flat.[1] Some of those holes are bearings. None of those parts are hard to make, but they need to be strong. They could be made by CNC machining, or in quantity by injection molding, or stamping. But tiny working parts in 3D printed PLA will be too flimsy for that hand to do much work. Totally fixable problem. Then this hand can go to work. If this thing catches on, someone might…

I haven't looked too carefully, but I suspect those "needs to be strong" parts could mostly be cnc machined with an inexpensive hobby CNC like a 3020, from aluminiumn sheet/bar stock.

That's what I was thinking, too. All but one of those parts can be easily milled from flat plate. The yoke end is a bit harder, but yoke ends are cheap standard parts and there's probably an off the shelf solution. The ball joints they use are standard R/C car parts. Those are available in in a stronger form, nylon with a brass ball, for EUR 0.53.[1] It won't be hard to strengthen this design so it can do useful work.

[1] https://toni-clark-shop.com/Ball-Joint-for-M2-and-M3

Re: Hand: open-source Robot Hand

#105

Post by stefanka »

aaronblohowiak wrote: post #94
stefanka wrote: post #85

Earlier quoted context omitted.

It’s one of best designs I have seen, I admit. But for that price you cannot get absolute encoders outside the motor, reliable force/torque sensors (think picking up a strawberry), tendons (thread below). It might be too limited for research and real-world projects unfortunately.

Would adding AnySkin to the finger tips work? ( https://any-skin.github.io ) ?

Depends entirely on the application I guess, but you'd get further for sure. Either way you are now confronted with more complex cable management and maintenance, and additional weight. You'd at least get around gravity compensation with that approach. Personally, I think you need a lot more sensors and complex sensor fusion to achieve acceptable dexterity to be useful outside of an industrial context and this comes at high costs

Re: Hand: open-source Robot Hand

#107

Post by ACCount36 »

stefanka wrote: post #87
ACCount36 wrote: post #63

Earlier quoted context omitted.

...that's how it was in year 2020. What you're missing is: today, we're nearing the point where actual general purpose robots become viable. Which means: the purpose of a robot is no longer to sit at a factory line and precisely execute the same exact motions on repeat 24/7. The purpose of the next generation of robots is to learn generalized behaviors, adapt to circumstances, and carry out circumstance-specific acti…

> ...that's how it was in year 2020 Humanoid robotics research was pretty popular in the early 2000s already, with remarkable, reproducible results not only in videos. It’s definitively more present in the media now.

The bottleneck for general purpose robots is, and always was, AI.

We've been in a continuous AI breakthrough since 2022. In 2000, this kind of thing was nonexistent.

Re: Hand: open-source Robot Hand

#110

Post by contingencies »

Animats wrote: post #104
bigiain wrote: post #100

Earlier quoted context omitted.

I haven't looked too carefully, but I suspect those "needs to be strong" parts could mostly be cnc machined with an inexpensive hobby CNC like a 3020, from aluminiumn sheet/bar stock.

That's what I was thinking, too. All but one of those parts can be easily milled from flat plate. The yoke end is a bit harder, but yoke ends are cheap standard parts and there's probably an off the shelf solution. The ball joints they use are standard R/C car parts. Those are available in in a stronger form, nylon with a brass ball, for EUR 0.53.[1] It won't be hard to strengthen this design so it can do useful work…

Smiles from Detroit. I would look to press those parts, since most contact surfaces are potentially convex and variant-depth parts appear superfluous to requirements. With a shared punch and die you could pull the nest off a laser, press them all in parallel, and break them after the parallel press-forming. Should be cheaper than injection because the cycles can be faster, the material can be stronger, there's only one die, and the unload will be easier?
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