loading

Step 7: General Assembly Notes

The Multipurpose Mobile Manipulator is divided into three major assemblies: the base, the arms, and the chest. The base contains motors for mobility and batteries to power the robot. The arms contain grippers, shoulder and elbow joints and an extensible arm for interacting with environments. The chest connects all of these together with control electronics and serves as a platform for an intelligent laptop-for-a-face.

Laser Cutting

To begin preparing for assembly, laser cut all of the plates with plywood and make sure all the pieces fit together. Due to the material properties of plywood, slight warping of the wood while laser cutting might make some pieces very hard to fit. To account for this, either use a belt sander or a file to shave bad edges until all pieces fit together as desired.

Drilling

Many steps of the assembly require screws to be fit on the thin sides of plywood after laser cutting is complete. Because holes cannot be laser cut on the thin side of plywood, you will need to drill screw holes everywhere where screws needed. Do this by aligning the drill with the positions of screw holes after the pieces fit together, and then drill using the screw guide holes on the flat sides of the fit piece. Many screw holes are intentionally made smaller than the diameter of the screws in order to account for the variable burn radius of the laser cutter. Drill these as well until they are the correct size for the screws.

3D printing

Some components on the main robot assembly are designed to be 3D printed. 3D print all of these components, namely the large shoulder plates and the circular spring assist wheels. Further supports can be 3D printed and mounted on the robot at various locations for increased integrity. Additionally, the grippers on each of the robot's arms are adaptable to perform a variety different tasks, where each task has a very specialized set of 3D printable grippers. These are left for the user to design, experiment and iterate upon.

Note: This project is not meant for beginners, and prior knowledge on how to use a variety of software, tools and equipment is required! The following instructions will assume some experience with mechanical assemblies, soldering, electronic layouts, current and voltage, schematics, scripting, hardware troubleshooting, rapid fabrication, Arduino, Python scripting and more. It is highly recommended to read all of the instructions before attempting to build in order to get a general idea of how everything is supposed to work together.

<p>Hi, I think this is the best robot ever made! It's so incredible, what it can do is amazing! Normally, most robots can do only one task, but your project broke this rule. Congratulations!</p>
<p>Thanks MohamedElkhatri! Wait till you see version 2 ;)</p>
<p>Pretty sure it will be amazing as well. Just a small proposition if you don't mind : why don't you give it &quot;home assistant&quot; tasks such as home control and make it familiar with its environment. Hope you a good luck!</p>
I need someone who will pick up what is dropped and ask where it goes then put it away.
<p>An interesting idea. The robot can be made a little shorter to pick things up from the floor. Speech recognition is also definitely something to explore.</p>
I plan on having my students build something similar to this using an electric wheelchair as base. This design gives me more ideas!
<p>Glad to hear! Feel free to use whatever you need and I hope you will learn something useful going over this Instructable. Let me know if you need help with anything and I will be glad to advise :) </p>
Amazing build, looks incredibly modular! Any thoughts on dressing it in a tux when you're done, to make it a robot butler? ;)
<p>Certainly. I'm thinking painting it black,, making the acrylic front plate white and giving it a bow tie :)</p>

About This Instructable

9,185views

127favorites

License:

Bio: Just a guy that likes building robots and videogames.
More by John Choi:Multipurpose Mobile Manipulator MkII Multipurpose Mobile Manipulator Mk 1 Virtual Reality Teleconferencing Device with Google Cardboard 
Add instructable to: