Applications and Implications
What will it do?
my final project is ( 3 axis robot arm with soft gripper ) so basically I designed this arm to deal with materials that need sooft gripping to brevent those bodyes from deformation. but to be more spicfy this project wil solve food packaging sterilization issue, instead of pkaeg the food by human hands this gripper will be setrilazed and automated to pakeg the food on production lines
Who has done what beforehand?
what are the similarities between these projects and with my project is the soft gripper itself but the mechanism is completely different because my gripper is 3 axes cartesian gripper
What will you design?
- 3 axis robotic arm based on cartesian movement with 3 stepper motors and holder for the soft gripper
- 3 pcb first one is the main controller board and its based on atmega328p chip second one is stepper motor driver shield the third one is DC driver for the pump and the valve.
- 4 finger soft gripper
What materials and components will be used? & Where will they come from?
Input and Output component
| Componant Name | Quantity | Cost (JD) | Supplier |
| STEPPER MOTOR NEMA17 | 3 | 14*3=42 | mikroelectron |
| STEPSTICK A4988 STEPPER DRIVER | 3 | 3*3=9 | mikroelectron |
| 370 AIR PUMP ELECTRIC PUMPS | 1 | 10 | mikroelectron |
Board part
| Componant Name | Quantity |
| FR4 board | 1 |
| Atmega 328p | 1 |
| Crystal 20MHz | 1 |
| Push botton | 1 |
| Power Jack | 1 |
| Voltage regulator 5V 1A | 1 |
| cap 1M | 2 |
| cap .1M | 1 |
| Red Led | 2 |
| Green Led | 1 |
| yellow Led | 1 |
| Resister 499 | 4 |
| Resister 0 | 3 |
| ISP 2*3 headers | 1 |
| 2*2 female headers | 2 |
| 1*8 male headers | 2 |
| 1*5 female headers | 1 |
3D Printer Material
| Componant Name | Quantity | Datasheets |
| Ultimaker PLA Filament | 1 | Datasheets |
Other Part
| Componant Name | Quantity | Datasheets |
| ECO flex 30max | 1 | Datasheets |
| M3 screw and nut | 40 | |
| L500MM 8MM LEAD SCREW AND NUT | 2 | |
| COUPLER RIGID COUPLING OD ( 8MMX8MM) | 2 | |
| GT2 TIMING BELT WIDTH 6MM RUBBER | 1m | |
| GT2 TIMING PULLEY 20TEETH 8MM | 1 | |
| Ball BEARING (90X65X18) | 1 |
What parts and systems will be made?
i will 3D print (arm base , bearing holder, gt2 bully, z axis , x axis , soft gripper holder ) and I will use laser cutter to make stepper motor cover out of acrylic then I will mill 3 pcb first one is the main controller board and its based on atmega328p chip second one is stepper motor driver shield the third one is DC driver for the pump and the valve. the last step is to 3D print the fingers holder and cast echo flex on it .
What processes will be used?
- CAD (2D and 3D design)
- 3D printing
- Electronics Design
- Molding and casting
- Input and Output Device
- Embedded Programming
- Electronics production
- Laser cutter
What questions need to be answered?
actually i want to know what is the best amount of bruser to inflate all 4 fingers.
How will it be evaluated?
this arm will make a big step to fully automate food packaging process starting from as will as so many other application that needs soft gripping feature .
Project plan
02-Feb Modeling the Conceptual Design.
23-Mar test soft gripper concept design on 3 finger gripper .
30-Mar design th application to control th blutooth signal.
10-Apr Design aybakduino PCB.
20-Abr The functionalities of HC-06 Bluetooth model connection .
27-Apr Try to control stipper motor with Amino board and stipper motor driver and HC-06 Bluetooth .
11-May Finalize the design.
25-May Start printing the parts and pcb milling .
28-May Start assembling the parts and pcb soldring.
01-Jun Start programming.
03-Jun Troubleshooting.
08-Jun Create the slide and video
13-Jun Presenting