Loader Bucket Completed!

      I finally completed the loader bucket today, the welding took a while because I was welding outside, and the weather has been rather dodgy lately. I used a Lincoln arc welder running at about 130 volts, with 7014 AC rods I believe. As you may be able to tell, I completely welded the patch to the bucket, covering every edge, gap, nook, and cranny. Generally it would have been easier(and maybe a bit structurally stronger) to just use a bunch of short welds spaced along the seams, however, it is a bucket that is used to haul manure and other liquids, so I needed to make sure that it wouldn't leak. Overall, I'm fairly proud of the job, especially since I've only been welding for a few months.

Before

After

Robot Arm Components: Part II: The Control Systems

     Today, I'd like to go over the part of the robot that controls it: the computer. the computer's job is to take in signals from the computer, then interpret those signals and send commands to the various parts of the arm. These signals are in the form of a widely used code: ASCII(American Standard Code for Information Interchange). The purpose of ASCII is simple, in that computers only understand numbers, so ASCII is a way to use numbers to represent actions or characters that aren't numbers. For example, every single button on a keyboard has an ASCII number applied to it.

An ASCII table

So, when you type in a command on a computer, the computer converts it from ASCII to a binary value, which the computer in the robot then accepts, and sends it in the form of electric pulses to the necessary part of the arm.  

The Loader Bucket

 This is a loader bucket we use around the farm for odd jobs. As you can see, it's rusted out around the bottom. I'd thought I'd put my newly acquired welding skills to use at school, and build an inner plate to patch the rusted spots. (it's currently incomplete, pics will be posted of the final product).

    

The Oscilliscope

     We purchased an oscilloscope at an auction about a month ago, thinking it would be cool to play around with. Basically what it does is measure the voltage over time. The picture on the right shows 2 different voltage over time readings. The bottom one is very much like what my robotic arm would be sending to the servos, each pulse is electricity traveling to the servo, and the width of each pulse is what tells the servo what position it should be in. The dials at the side of the screen allow you to change different variables, so that you can line up the wave with the graticule, and measure it better.

I have to say that I'm rather fond of the way the Oscilloscope looks, it gives a work area a little bit of the 'mad scientist' look. 

Robot Arm Components: Part I: The Servos

     Hello, I'd like to take a few posts to explain how my robot arm works before going into detail about using it. First, I'll explain the servo motors.

What Do They Do?

The servo motors handle all functions of the robot involving motion, bending the joints, closing the gripper, and rotating the base, all of these things use the servo motors.

What makes them different from normal motors?

Normal motors are very simple, electricity goes in, the motor turns. Servo motors are much more advanced. First, a signal comes in to the motor. This signal is composed of many quick electric charges traveling at a certain speed this speed tells the motor which position it should be in. The motor then rotates to that position, and continues to keep it's position if it some external force tries to change it.

So what does it do for the robot?

Using these servo motors, the arm can be controlled with a high degree of precision, and gives it the ability to keep it's position whilst under stress, such as when it's lifting an object.

Meet The Arm

Meet The Arm.

     For a very long time I've had a robotic arm sitting around that I never really did anything with. So the other day I decided to pull it out and try to get it running. I couldn't get it running with the software it came with(which defeats the purpose of including software with it), so my dad helped me connect to it using his computer, and a terminal program. After a bit of research, we finally got to the point where we could send it individual commands to control it. My plan now is to try and make a program that will have a user friendly interface.

Meet The Truck

 





Allow me to introduce my truck, it's a 1997 Ford F-150.










  

  As you may see, it's not in mint  condition, but that's the reason I bought it. I'm fixing it up and adding a few modifications to make it my own unique vehicle..

 


  
...Residing under the hood is a 4.6L V8 engine. It may not be the most economical, or environmental choice, but there are few things in this world better than a good V8 engine.

    And good it is. The engine is of the 'Triton' series: Which has a  reputation for being extremely reliable. So far, this reputation has rang true, as the only part that has broken in it's lifetime is an exhaust manifold (which I still need to get around to replacing).