Hi Gang ! So Ive finally got my project to a point to where Id like to show what I have been working on, which I actually started around october of 2019. Its still ways off from being finished, but I wanted to show you the major part of it.
This design stands a lil over 65 inches tall. Currently weighs in about 40lbs. Is mostly made from Servocity Actobotics metal parts and some very high torque servos (3402 oz/in), a torso actuator(180lb thrust) ,Vex grippers and much more...
The main goal of this design is to help lift a person up; as in from a sitting position from a chair or wheelchair ,turn, then lower the person back down onto another chair (they call this "Transfering" among the nursing community). I got the idea from all the times that either me or an aide/nurse has to lift and move my mom around in her home. I know that there are lift chairs out there than do this, but I want to see if a real robot could be built to do it too.
HEMI is currently partly RC controlled right now, but I will be using EZB along the way to perfom the many task that the EZB can do. One thing you will note in this picture is the 2 white pvc tubes protruding outward from the front. these in time will have an Ultrasonic sensor and a bumper switch, and will be used to carefully roll up to the person sitting in a chair (your feet would go in between the white tubes and your toes would touch a large rubber stopper when the robot comes to a stop,holding the feet in place before the lifting. The idea then is that HEMI will bend over forward, while its arms extend outward, safelty grabbing and holding the person, then will rise up till the robot is basicaly fully upright and the person is now in a standing position being held up by the robot. Then to be turned and lowered back down onto another chair ie: wheelchair for an aide/nurse to do whatever is next.
More pics and a couple videos to come as I keep adding to it. Next major hurtle is to add a SSC32, wire the servos and the means to power them.
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RoboHappy and EZAng it looks like your robots are cousins with the similar ServoCity parts!
lol, yes, RoboHappy turned me on to servo City
just added a 4 pieces at bottom
video coming
EzAng
Hi,
question, can the servo city Agent 390 run on an EzB4 with battery?
Here is my robot https://youtu.be/CESWU7Td99o
Using 2 Iotiny with 2 EzB batteries
Servo City parts - need wheels - power - Can I use a EzB4 with battery?
@EzAng Per Servocity, the Agent 390 is best run with a 3s (11.1v) 5000ma Lipo battery. What battery are you using now? The Lipo is great if you want to keep the weight down on the base. I opted for a little heavier, so I went with a single 12v 10A SLA to power everything. My power distribution is via two DC/DC converters. Both are adjustable, with one being @ 3 amp max, adjust to 7.4vdc for the EZB and other small electronics, the other can deliver up to 8amps and is also set for 7.4v for all the servos. Finally I use the 12v to drive the base motors and the big Torso actuator.
I am using 2 EzB 1300 mAh - 7.4 V
2 iotiny boards
can this run the the servo city Agent 390 ?
EzAng
Should be ok. I need to take another current measurement, now that I have added some more wight to the bot. The agent 390 is designed for up to a 60lb payload, yet on the servocity videos, it shows pulling a person in an office chair across the floor... The Agent 390 base by itself does haul across the floor pretty good too.
Thanks, RoboHappy, I will try the servo city Agent 390 and use the EZB4 controller with the 1300 mAh, 7.4 V batteries - I will use a h bridge motor driver for the motors.
I will see what happens, trial and error again :-)
EzAng
Made a battery cover. It holds the LCD Battery monitor. The cover is easy to remove to gain access to battery terminals for charging.
Not the best view, but this shows Hemis torso bent over and arms extended. This is the basis on how I hope I be able to lift a person , say from a wheelchair. I Also still have to route the wiring better. (note my Cybot nearby , lol )