This is an update to my Lego Mindstorms NXT FlexiPicker is based on the ABB IRB 360 FlexPicker. The IRB 360 FlexPickerâ„¢, is the SECOND GENERATION delta robot for precision pick and place applications. The RB 360 FlexPickerâ„¢ has outstanding motion performance with shortest cycle times at high accuracy, and with up to a 3Kg payload. The IRB 360 is designed to work in food industry applications.
View of my NXT FlexiPicker ready to Sort Coloured Balls
After a couple of test runs the engineer/mechanical issues have been ironed out. This time the FlexiPicker is Sorting Coloured Balls, via the claw/grabber which users an 8gram RC type mini-Servo and is controlled via a Mindsensors 8 Channel Servo Controller (NXTServo-v2). The NXTServo-v2 can control up to 8 RC servos via a single NXT Sensor Port & external 5-6V power supply.The ball Delivery Mechanism is also controlled via 8gram RC type mini-Servo. It picks up a coloured ball then places (drops) it in one of the four areas equivalent to it's colour.
View my NXT FlexiPicker Sorting Coloured Balls
It works rather well, but still could do with some software refinement and a little more testing. But I am very happy with the results I've achieved so far. I have used Vector Mathematics to transfer the X-Y co-ordinates from the Joystick to control the 3x NXT Motors. It's improving as time goes.
For more details, the NXC Source Code, and my other Mindstorms Robots, please visit my Blog: www.rjmcnamara.com
This is a close-up Video of the FlexiPicker is Sorting Coloured Balls. The claw/grabber now users an 55gram RC type Servo controlled via Mindsensors 8 Channel Servo Controller (NXTServo-v2) which can control upt o 8 RC servos.The ball Delivery Mechanism is also now controlled via 55gram RC type Servo. I used my new Mounting approach of RC Servo Motors to Technics which introduced excellent reliability to the Robot.
View a Close-up of FlexiPicker Sorting
I am very happy with the result's I've achieved now with this unconventional Robot. As previously mentioned, I have used Vector Mathematics to transfer the X-Y co-ordinates to Control the 3x NXT Motors. It's possible to have the arm place objects at 45 degrees apart, around the frame with complete accuracy. It's would be possible to sort eight different coloured balls, if I had them with no foreseeable issues and it would place them around the circumference of the Robot in piles 45° apart.
For more details, the NXC Source Code, and my other Mindstorms Robots, please visit my Blog: www.rjmcnamara.com