Braços robóticos ROS DIY

O principal propósito deste artigo é procurar coligir uma lista de Braços Robóticos operados com ROS, com recurso ao Moveit. No entanto também são incluídos alguns braços róboticos que ainda não existe software para os operar com o ROS mas que seja eventualmente possível criar esse software.

Requisitos básicos para operar um braço robótico com o ROS

Uma das primeiras condições para que o braço róbotico seja possível de ser operado com facilidade com o ROS Moveit é que exista uma descrição do mesmo num ficheiro URDF.

Os ficheiros URDF são ficheiros XML com duas etiquetas fundamentais:

  • Link, que representam as parte estáticas dos robot
  • Joint. que representam as ligações entre as várias partes do robot, (links)

Existem dois tipos de cadeias cinemáticas:

  • As cadeias em malha fechada (closed loop): em que cada link está ligado pelo menos a dois outro links ( a cadeia forma um ou mais circuitos fechados).
  • As cadeias em malha aberta (malha aberta): em que um, ou mais, dos links apenas está ligado a um outro link.

Os ficheiros URDF só permitem a descrição de robots em árvore hierárquica, o que deixa de fora os robots com cadeia cinemática em malha fechada.

Braços Róboticos com ROS

  • Niryo One
  • BCN3D Moveo
  • dobot
  • EezyBotArm MK2
  • RoboticArmV1
  • EezyBotArm MK1
  • Tinkerkit Braccio Robot
  • 7DOF arduino arm for ROS
  • Faze4 Robotic arm

Braços Róboticos sem ROS

  • Robot Arm MK2 Plus
  • RoboticArmV2
  • Sixi 2 Robot Arm
  • WE-R2.4 Six-Axis Robot Arm
  • https://www.thingiverse.com/thing:1718984
  • uStepper (4th gen) https://www.thingiverse.com/thing:3876856
  • 6DOF Robot Arm v1.0
  • Faze4 Robotic arm (6dof)
  • Atlas – 6DOF 3D printed universal robot
  • RepRap HELIOS SCARA Robot
  • SCARA Robotic Arm
  • Dexter
  • Walter – 6 DOF robot arm in vintage style
  • Thor – OpenSource 3D printable Robotic 6DOF Arm
  • 6 axis stepper robot

 

 

Robots paletizadores

Partilham a mesma cadeia cinemática

  • meArm (v0.3, v0.4, v1.0)
  • eezybotarm (mk1, mk2, mk3)
  • Robot Arm MK2 Plus
  • uStepper Robot Arm (Rev 2, Rev3, Rev 4)
  • Horizontal Travel Robot Arm
  • robotArm (ftobler)
  • uArm

Dexter

https://hackaday.io/project/158779-dexter

https://www.thingiverse.com/thing:2108244

https://github.com/cfry/dde

 

6 axis stepper robot

https://www.thingiverse.com/thing:1738665

Thor – OpenSource 3D printable Robotic 6DOF Arm

https://hackaday.io/project/12989-thor

Walter is a 6 DOF robot arm in vintage style

https://hackaday.io/project/19968-walter

https://walter.readthedocs.io/en/latest/

 

RepRap HELIOS SCARA Robot

https://hackaday.io/project/21355-reprap-helios

SCARA Robotic Arm

https://www.thingiverse.com/thing:1241491

Atlas – 6DOF 3D printed universal robot

https://hackaday.io/project/168259-atlas-6dof-3d-printed-universal-robot

 

Faze4 Robotic arm (6dof)

https://hackaday.io/project/167247-faze4-robotic-arm

https://github.com/PCrnjak/Faze4-Robotic-arm

meArm

https://www.instructables.com/id/Pocket-Sized-Robot-Arm-meArm-V04/

https://github.com/phenoptix/me-arm-ik

 

Robot Arm MK2 Plus

https://www.thingiverse.com/thing:2520572

 

uStepper Robot Arm (Rev 2, Rev3, Rev 4)

https://www.thingiverse.com/thing:986224

https://www.thingiverse.com/thing:1398215

https://www.thingiverse.com/thing:1774473

https://github.com/uStepper/uStepper-RobotArm-Rev3

remixes

https://www.thingiverse.com/thing:2849783

 

Horizontal Travel Robot Arm

https://medium.com/@pacogarcia3/computer-vision-pick-and-place-for-toys-using-raspberry-pi-and-arduino-68a04874c039

https://www.thingiverse.com/thing:3509006

https://www.instructables.com/id/Horizontal-Travel-Robot-Arm/

 

RobotArm (ftobler)

https://www.thingiverse.com/thing:1718984

Existe um grupo do facebook para os utilizadores deste braço. (https://www.facebook.com/groups/robotarm)

O administrador do grupo criou uma remix deste braço usando correias. Informação disponível em: https://www.20sffactory.com/
STLs disponiveis em: https://www.thingiverse.com/thing:4415380

 

uArm robotic arm

https://store.ufactory.cc/products/uarm

https://github.com/uArm-Developer/RosForSwiftAndSwiftPro

https://github.com/uArm-Developer/UArmForROS

 

6DOF Robot Arm v1.0

https://github.com/RoboLabHub/RobotArm_v1.0

 

Niryo One

https://github.com/NiryoRobotics/niryo_one

 

BCN3D Moveo

https://www.thingiverse.com/thing:1693444

 

 

Dobot magician

https://www.dobot.cc/

https://www.dobot.de/

https://hotblackrobotics.github.io/en/blog/2018/06/29/ros-dobot/

https://github.com/sgabello1/ros-dobot

3D-Model DOBOT Magician incl. Tools

 

EezyBotArm MK2

https://www.instructables.com/id/EEZYbotARM-Mk2-3D-Printed-Robot/

https://www.thingiverse.com/thing:1454048/files

http://www.eezyrobots.it/eba_mk2.html

https://hotblackrobotics.github.io/en/blog/2018/01/17/ntbd-guide-part-I/

https://hotblackrobotics.github.io/it/blog/2018/02/14/sibot-cloud/

https://hackaday.io/project/157951/logs

eezyarm_APIEMS2019_paper_259

https://github.com/IdreesInc/EEZYbotARM-MK2-Cartesian-Coordinates

https://github.com/SimBil91/coffee-bot

https://hackaday.io/project/157951-stm32-robot-arm-controller

 

 

Tinkerkit Braccio Robot

Tinkerkit Braccio robot

https://www.robotshop.com/en/arduino-braccio-robotic-arm.html

https://github.com/ohlr/braccio_arduino_ros_rviz

 

RoboticArmV1

https://www.instructables.com/id/ROS-MoveIt-Robotic-Arm/

https://www.instructables.com/id/ROS-MoveIt-Robotic-Arm-Part-2-Robot-Controller/

https://www.thingiverse.com/thing:851345

 

EezyBotArm MK1

https://www.instructables.com/id/EEZYbotARM/

https://www.thingiverse.com/thing:1015238

http://www.eezyrobots.it/eba_mk1.html

 

Robot Arm MK2 Plus

https://www.instructables.com/id/Robot-Arm-MK2-Plus-Stepper-Motor-Used/

https://www.thingiverse.com/thing:2520572

https://www.instructables.com/id/Using-Arduino-to-Design-3-Dof-Robot-Arm-for-3d-Pri/

 

7DOF arduino arm for ROS

https://hackaday.io/project/164495-a-7dof-arduino-arm-for-ros

https://github.com/qq95538/ArduinoRobotHardWareInterfaceForROS

 

RoboticArmV2

https://www.thingiverse.com/thing:969460

 

 

Sixi 2 Robot Arm

https://github.com/MarginallyClever/sixi-2

https://docs.google.com/spreadsheets/d/1kIXNkmVc6ltsIxx8kSpOiDqU04hZP3wAlI8Vb9QwlLI/edit#gid=0

 

 

WE-R2.4 Six-Axis Robot Arm

https://www.thingiverse.com/thing:3327968

 

 

 

Faze4 Robotic arm

 

https://hackaday.io/project/167247-faze4-robotic-arm

https://github.com/PCrnjak/Faze4-Robotic-arm

 

https://hackaday.io/project/3800-3d-printable-robot-arm

https://grabcad.com/library/microb-3d-printable-6-axis-robot-1

 

 

Videos do youtube para selecionar braços

Skyentific

 

Chris Annin

https://www.anninrobotics.com/

https://github.com/Chris-Annin/Annin-Robot-Project

 

 

Dr. D-Flow

RBX1 (Remix): 3D Printed 6 Axis Robot Arm Beta Kit