Manufacturing Instruction for ARTiS

Summary

  • This is the design instruction for ARTiS. The estimated 3D printing time is 6 days.
  • As the first step, purchase all the items from here.
  • Download the 3D printing parts here and print all parts.
  • Follow the 'Design Instruction' on this page and assemble all the parts for ARTiS.
  • Electronic setup and complete the motor wiring setup with calibration.
  • Refer to the ARTiS code here. Now you are ready to use ARTiS!
  • Contact us at roman.mux.mux@gmail.com if you have any questions.

    • Design Instruction


  • Before Assembly

    • Prepare all components (3D printed parts, Required Components, Other Misc. Parts and Tools) described below.
    Before starting assembly, we need to install threaded inserts into the 3D printed parts using a soldering iron, instructions on best practices are presented below.

    Examples of inserts in ARTiS parts
    Tool 8 - CAD Design
    Tool 8 - CAD Design

  • Assembly Jamming Palm

    • To assemble this component you will need the following items: cup, filter, jamming holder, inflatable ball, glass beads, and fitting.
    Tools required: scissors, soldering iron, Phillips screwdriver, and hex wrench to fit the fitting.

    First, need to cut the neck off the ball (step 2), then insert the jamming holder into the middle of the ball (step 4), holding the ball on the edge, punch 6 holes for the connection (steps 6 and 7), pour glass bead into the ball (step 9), screw the jamming holder to the cup (step 10), and screw the fitting into the thread on the back of the cup (step 11).





  • Assembly the Base

    • To assemble this component you will need the following items: DYNAMIXEL MX-64R, base, gear, axis holder, pivot pin, horizontal bearing, fastener, and bolts.
    Tools required: hex allen wrenches.

    First, need to screw the motor (step 2) into the prepared base with threaded inserts (step 1), then need to screw the gear to the motor (step 5), install the pivot pin and horizontal bearing in the axis holder (steps 6 and 7), install the fastener with communications and connect the motor (steps 8 and 9), and combine the axis holder with the base (steps 9 and 10).


  • Pressing Bearings into Parts

    • To assemble this component you will need the following items: axis holder, rotating platform 1, rotating platform 2, and top axis holder.
    Tools required: press or clamp.

    The horizontal bearing consists of three parts, top/bottom, and balls (step 1), since three bearings are used in the design, all six top/bottom bearing parts must be pressed into the corresponding seats of the parts (steps 2-7).


  • Main Assembly

    • To assemble this component you will need the following items: assembled base, three fingers, palm, and prepared rotary platforms 1 and 2.
    Tools required: hex allen wrenches.

    First, the balls from the bearing are installed on the assembled base, followed by the rotary platform 1 (step 1-2), then the same procedure is repeated with the rotary platform 2 (step 3-4) and the top axis holder (step 5-6), after which the rotation axis is fixed with a bolt and the than bolt is fixed (step 7), then the jamming palm is screwed to the top axis holder (step 8-9), after which the assembled three fingers are attached using two bolts (step 10-13), connect all the wires (step 14), and as a result we will get a gripper connected to the controller (step 15).


    Electronic Instruction

    Instruction
  • Using the Dynemixel Wizard, setup the motors with the appropriate IDs, and set them to the initial position for installation.
  • Use the soldering iron and wire cutter, to extend the wires to connect motors 1 and 2 to the control box.
  • Install all the elements in the control box, and install it on the robot arm.
  • Connect all power and control elements to the gripper and to the control box, turn on the switch on the U2D2, supplying power to the motors.
  • Upload the program to Arduino, and using Python code start using the ARTiS.

    Setup DYNAMIXEL Instruction Video


  • Set the below motor properties

    Tool 12 - CAD Design
    Motor number in design: ID's for programming
    Motor 1 (Jo): ID-8
    Motor 2 (J1): ID-1
    Motor 4 (J2): ID-2
    Motor 6 (J3): ID-3
    Motor 3 (J4): ID-4
    Motor 5 (J5): ID-5
    Motor 7 (J6): ID-6

    What to disable:
    Overload error

    What to apply:
    Overheating error
    Joint control

    Update the firmware if necessary.

  • Control Box - Gripper connection

    Tool 12 - CAD Design
    We recommend a minimum connection length between the gripper and the control box of 750 mm, for a pneumatic line this would be 750 mm of tube (diameter 6 mm), and for wires 850 mm. When fixing the control box on the robot's shoulder, this distance of connection with the gripper is enough for the robot (UR-5e) to make 2 full revolutions of the end effector. If you use a robot with longer or shorter link lengths than the UR-5e, this length can be changed to ensure sufficient orientation during operation.