Open-source, copy and modify what you need!
Open-source, kopírujte a upravujte co potřebujete!
Note: Original branch of master's thesis -> switch to Master's Thesis
RM1 is an experimental robotic platform created to automate antigen testing. This project was developed as part of a master's thesis. The aim was to create a functional and modular prototype that is easily modifiable and deployable after debugging. The basic idea is to create a web-based server that communicates with ROS. ROS was used in the work as a simulation and debugging environment, mainly for robot control. The thesis is divided into four main parts:
As part of this package, it was necessary to design some parts for 3D printing in order to fit the UR3 end effector, Intel Realsense D435i camera, Optoforce Hex-e sensor, and Optoforce RG2 Gripper. Again, the emphasis was on modularity. A simple rack and thread was designed to handle the entire testing process. All parts were printed on Prusa 3D printers. Within the work both angular and straight attachment for camera mounting was designed, we used Angular for testing. Used settings:
- Prusa i3 MK3
- PLA Filament
- 0.2 mm
- filling 15%
Autodesk Inventor Proffesional 2020
PrusaSlicer 2.3.1
| Number | ISO | Parameters |
|---|---|---|
| 4x | DIN EN ISO 4762 | M6x16 |
| 4x | DIN EN ISO 4762 | M4x16 |
| 2x | EN ISO 7045H | M4x12 |
| 2x | EN ISO 7045H | M3x5 |
| 6x | EN 24035 | M4 |
Note:
- Recommended torque for both M3 mounting points is 0.4Nm Intel Realsense D435i.
Click to full resolution
Angular Gripper
Straight Gripper
- Author: Martin Juricek
- Supervisor: Roman Parak
If you want to cite please check the header repository.
github.com/Steigner/Robo_Medicinae_I =>