3 DOF CYLINDRICAL COORDINATES GRIPPER ROBOT

 

This unit has been retrieved from an HP HPLC autosampler, it has been restored and will be used for automation projects. In the base two stepper motors are coupled via two coaxial shafts, respectively to the rotating plate for the circular motion axis and to the horizontal linear axis, which is operated via a rack and pinion setup (46 steps/cm resolution). A third stepper on the horizontal arm controls the vertical axis via a pulley/belt. The steppers were all bipolar but i i'm controlling them with Allegro A4988 ICs. In the following video there is a homing routine test for the angular movement using an internal IR optointerrupter; the homing sequence has the robot first moving at full speed towards the activation point of the sensor, then moving some steps away from it and then slowly triggering it again; finally the arm is moved from 0 to the maximum step limit at full speed and acceleration. 

The base and controller board connected to steppers and homing sensors
The base and controller board connected to steppers and homing sensors





Comments: 30 (Discussion closed)
  • #30

    danny (Friday, 22 January 2021 14:23)

    good afternoon. Your ESP32-CAM project is splendid. Well done. Would you be able and willing to share the code. Much appreciated. email: danny.mcalbu@gmail.com. Thanks

  • #29

    moses (Wednesday, 30 December 2020 09:49)

    hello the project is very interesting. I would be very grateful if you could share the code?
    my email: rabbiwest@gmail.com

  • #28

    Tony Le (Sunday, 09 August 2020 04:14)

    hi, I like this 3D printed precision peristaltic pump and want to download this file printing. Can you show to me ? Thanks !
    https://www.youtube.com/watch?v=zLDlSd56vko

  • #27

    Ari (Tuesday, 05 May 2020 17:16)

    Hello Sir, im in interest for make this project , is possible that you share the code or at least could you give me an example, i got some trouble when use universaltelegrambot in esp32 is still cant find solution my email arirehan10@gmail.com , really happy if i get you attention .

    best regard

  • #26

    Javi Morales (Sunday, 26 April 2020)

    Hi,
    This model looks very interesting, congratulations. Would it be possible to share the 3D printer files and also the arduino code with the libraries you used, pleas! Thanks.
    J.M.

  • #25

    antonio couto (Friday, 24 April 2020 02:35)

    Hi,
    Would it be possible to share the arduino code for this project. I would like to implement it on my 3d printer My e-mail is antoniompcouto@gmail.com
    tks

  • #24

    Andre Geyser (Sunday, 12 April 2020 12:57)

    Hi,
    Would it be possible to share the arduino code for this project. I would like to implement it on my ESP32-CAM? My e-mail address: andre.geyser@telkomsa.net

  • #23

    Yanwar (Friday, 06 March 2020 08:23)

    Hello Sir, im in interest for make this project , is possible that you share the code or at least could you give me an example, i got some trouble when use universaltelegrambot in esp32 is still cant find solution.my email yanwareko.m@gmail.com, really happy if i get you attention .

    best regard

  • #22

    tornado64@gmail.com (Friday, 28 February 2020 01:36)

    Hello.
    I like it. Is possible that you share the code?
    my email is: tornado64@gmail.com
    Thanks

  • #21

    bruno martineze (Sunday, 23 February 2020 17:44)

    Congratulations! Im looking for a project like this. Can you share de code? brunomarcio.agl@gmail.com

    best regards,

  • #20

    Reham (Thursday, 26 December 2019 17:18)

    Please, can you send me the CAD files for this design?

  • #19

    Toyran (Thursday, 31 October 2019 10:21)

    Thank you for your quick response !
    I mean the Modular Chemistry Analyzer project,
    just the part of making multiport selector valve.
    I can not understand the mechanism purely.

  • #18

    dptechnology.jimdo.com (Wednesday, 30 October 2019 18:35)

    Dear Toyran,
    this guestbook is about the whole website. Which project are you referring to?

    dp

  • #17

    Toyran (Wednesday, 30 October 2019 18:26)

    Hi, I am trying to make the valve for my project but I can not understand the mechanism by looking at photos . Can you send me the method to make this please ?

    email: e.toyran_@Hotmail.com

  • #16

    David Coronado Ecos (Wednesday, 31 July 2019 16:28)

    hi, your work impresed me , i would like to probe it with my 3d printer , could you please send me the cad files?
    my email: davicoecos@gmail.com

  • #15

    Shawn Alfaro (Sunday, 28 October 2018 14:08)

    Do you offer .stl files for printing? If so, my email issalfaroart@gmail.com

  • #14

    Be (Saturday, 27 October 2018)

    b,van,hattem@xmsnet.nl

  • #13

    Be (Saturday, 27 October 2018 18:27)

    I wil also make this multi port valve for my project.Can you send me the method to make this.Thanks you

  • #12

    SANDEEP KUMAR (Friday, 28 September 2018 10:19)

    I want to make this multi port valve for my project.Can you send me the method to make this.Thanks you
    Email-
    sandeep.ec72@gmail.com

  • #11

    dpt (Saturday, 10 September 2016 17:58)

    Caro Pasquale,
    l'esp8266 è stato programmato usando l'IDE di arduino (https://github.com/esp8266/Arduino). Per quanto riguarda il codice che ho scritto e le librerie che ho usato per i bot, dovrei controllare sul computer, ora non ricordo... Se ti servono mandami una email alla sezione contatti e te le allego appena ne ho l'occasione.
    saluti, dp

  • #10

    Pasquale (Friday, 09 September 2016 13:43)

    Scisa, non avevo capito.
    Mi riferisco al progetto
    IoT: control esp8266 from Telegram Bot for telemetry and domestics applications
    Sto cercando di utilizzare un ESP-01 interfacciata con Arduino per utilizzare I Telegram BOT ma sono in difficolta' perche, mi pare di aver capito, che tutte le librerie disponibili non gestiscono I telegram BOT utilizzando I comandi seriali di ESP-01 ma utilizzano ESP-01 programmato tramite LUA.

    Darei quindi interessato alla tua soluzione.

    Grazie.

    P.S. Molto cortese nella sollecita risposta.

  • #9

    dpt (Friday, 09 September 2016 12:57)

    Ciao Pasquale,
    a quale progetto ti riferisci?
    Il libro dei commenti riguarda tutto il sito!
    dp

  • #8

    Pasquale (Friday, 09 September 2016 11:51)

    Progetto molto interessante.
    E' possibile avere I dettagli ed eventualmente il codice SW?

    Grazie

  • #7

    Marc (Saturday, 27 August 2016 07:59)

    It’s my fortune to go to at this blog and realize out my required stuff that is also in the quality.

  • #6

    dpt (Thursday, 26 May 2016 13:42)

    Hi Anibal,
    contact me tomorrow at info.dptechnology@gmail.com, i will provide you with the libraries used in the project. Regards

  • #5

    Anibal Marcos De Simony (Thursday, 26 May 2016 03:48)


    Caro , come è possibile accedere al progetto software : " ESP8266 e Telegram Bot ". migliori saluti.
    Anibal Marcos
    anibaldesimony@gmail.com

  • #4

    dpt (Tuesday, 05 January 2016 13:38)

    Hi markc,
    a preliminary hydraulic schematic was added yesterday :)

  • #3

    markc (Tuesday, 15 September 2015 16:05)

    When will you add the schematics of the automatic titrator?
    thanks

  • #2

    Federico (Monday, 14 September 2015 18:26)

    What about creating a community around the most ambitious projects? :D

  • #1

    Federico (Monday, 14 September 2015 18:14)

    Well done! This is smth we did need in Rome :)