AR3 Robot as a Tool and Pallet Changer

[testyourdesign]

Hi Guys,

I finally settled on a new tool changer design that is a little different than most. I found a cool open source 6 axis Robotic Arm called AR3 which was developed by Robotics Engineer named Chris Anin. After reviewing the robots controls and inputs I think it will do the trick. I plan to control the robot through my Masso Controller using custom G-Code that will allow the robot to function as both a Tool Changer and Part Loading device. The robot arm comes with software that allows you to develop programs by repositioning the arm and teaching the motion requirements. I just received the robot hardware kit and started 3d printing the plastic parts this week. I plan to machine the frame on my Milling machine to save on build cost. There will be some build videos on my YouTube channel and on Instagram as I go along. Should be fun project over the holiday break.

Cheers, Stephen Brown

 

[evermech]

Hi @testyourdesign

Im curious about the size of the robot, and do you think that I could scale it up to a larger size?

Guy

 

[testyourdesign]

@evermech

I am not a robotics expert but I think scaling it up may cause stability issues. This one has a 600mm reach and can support 2.3kg at full speed.

Take as look at the latest speed test video for comments from Chris along those lines.

Cheers Stephen Brown

 

[testyourdesign]

Hi Guys,

Here's a little update on my progress. I made a whole bunch of 3d printed parts for the AR3 Robot and received the motors and electrical components. I only have a couple of parts left to 3d print so I will be moving over to my mill to machine the aluminum parts over the holidays. I've been thinking of how to interface it with my Masso controller and figure it will need to be a custom tool change call using subroutines with M62 outputs to the Arduino inputs. Those inputs will allow the Robot to run programmed routines and provide outputs to the Masso when it is done.

Here is an update video from Chris Annin showing the speed of the Robot.

Cheers, Stephen Brown

 

[evermech]

Thats pretty nice looking. What's the platform size on your printer? Mine is 310mm square X 410mm high, just wondering if I can print those parts

Guy

 

[testyourdesign]

Hi Guys,

Here are some more updates on the AR3 Robot build. All the 3d printed parts have been completed. I just started machining the first parts on my Mill. The first part came out flawless thanks to the backlash adjustments on my Masso Controller. I hope to have all the machining for the metal parts completed over the Christmas break. The motors, drivers, electrical parts and electrical enclosure have been delivered. Machining will be followed by several hundred feet of wiring and connections to the 2 Arduino microcontrollers, 6 stepper motors, motor drivers, and encoders used to move each axis of the robot. Been debating if I should integrate some Masso's tool changer functions into the tool storage rack and use them to activate the robot functions instead of using custom M62 codes. I like the idea of having the tools retract into an enclosure with a dust/chip cover to protect them while the mill cuts parts. I have plenty to work on before I think about the details for the tool change logic. I added some new videos on my YouTube channel in case any of you want to follow along or provide comments.

Here is a photo of the completed first part machined on my converted benchtop Grizzly G0619L CNC mill using a Masso CNC controller.

Cheers, Stephen Brown

 

[testyourdesign]

@evermech

I printed everything on an Ender 3 Pro with a build plate area of 220mm x 220mm. The tallest part was about 3 inches or 75mm. Chris Anin designed it so you could 3d print the entire arm on a desktop printer so I'm sure you could easily 3d print the parts on your machine.

Cheers, Stephen Brown

 

[testyourdesign]

More parts for the AR3 Robot have been machined using my Masso controlled mill. One day people will describe this time period as a significant moment in human history. So happy to be living in it for every moment. Where no man, in his home shop, has gone before!

Cheers, Stephen Brown

 

[russel]

Hi Steven you have the same idea as me i can make the arm but its the controlling of it that scars me i was planing on useing one output for one tool change but cant figer out how to return the tool to rite place