Robotic gripper and Arduino. Tutorial about a robotic clamp with Arduino.

The new robotic gripper Andromina V.2.0 is the most advanced gripper that currently exists and has many applications. In this second version, the clamp has been greatly improved, the opening and closing of the clamp can be controlled by an encoder and a limit switch. The main advantage of this clamp is that it is controlled by means of standard radio control servo motors. These can be controlled directly from any Arduino board or any other board, such as Raspberry Pi, Beagleboard, Picaxe etc .... In this post we show the new mechanical design of the 5 grippers Andromina V.2.0. There are 5 different designs of clamp where we have varied the number of fingers that each clamp has and we can choose between 2, 3, 4, 5 or 6 fingers. We can also choose if we want a clamp with one, two or three degrees of freedom.

Photo of the robotic gripper Andromina V.2.0 with six fingers.

In the following picture you can compare the 5 different models of grippers, Andromina V.2.0. In this picture you can see grippers with a single degree of freedom, with a single servo motor RC.

View of the 5 models of robotic grippers Andromina V.2.0.

Encoder and Arduino.Tutorial about the IR speed sensor module with the comparator LM393 (Encoder FC-03)

Versión española.
This tutorial shows how to use the FC-03 encoder or the encoder FZ0888 (infrared speed sensor module with the LM393 comparator) or opto-switch. I have implemented this encoder on the 4 wheels of the Andromina OFF ROAD robot to calculate the speed of rotation of these. I have chosen this encoder because it is the most economical in the market. This tutorial shows the two best solutions to connect the encoder FC-03 to Arduino UNO or MEGA without problems. The encoder is shown below:

Encoder FC-03

Photo of the robot motor assembly, the encoder and the toothed disk.

Andromina robot motions. A 4 directional wheel robot. (Arduino, Raspberry, PICAXE, ROS robot)

In this post I talk about the motions of the Andromina robot. I will show you all the moves you can make to the Andromina robot. To program all possible moves the robot has to have at least one Arduino MEGA and engine controller board of 4 channels. Thus we get the 4 wheels rotate and turn them completely independently.

Robot with wheels steered

New Andromina robot v.1.0 (ON-ROAD) (Arduino, Raspberry, PICAXE, ROS robot)

I am designing the new Andromina robot, ON-ROAD version, it is similar to Andromina robot v.1.2 (OFF-ROAD). This new model is going to be small, cheap and simple. It is also compatible with all Arduino boards, Raspberry Pi, PICAXE and more. The next pictures show the new design.

3D view of Andromina robot v.1.0, ON-ROAD version.

The main features of the robot are maintained its 4 wheel steering-wheel drive and 4 wheel supplied by the 4 DC motors (in yellow in the figure below).

Robotic grippers compatible with Arduino. They are printed with a 3D printer.

Andromina Gripper 4 V1.1. These new robotic grippers presented in this post are ideal for mounting on any standard robotic arm or a robotic arm manufactured by a "Maker". Its futuristic design allows the manipulation of a variety of objects. The different holes on the grippers allow several positions of assembly.

In this post, you can see these robotic grippers to manipulate large objects. They are manufactured with a 3D printer, Prusa I3. The printer uses ABS plastic. The different 3D parts of grippers are assembled with stainless steel bolts of DIN-912 M-3 Allen bolts.

The main features of these robotic grippers are :

1. The grippers are robust and light.
2. The grippers allow the manipulation of large objects, with an size of 77mm.
3. The grippers allow two degrees of freedom, the opening and closing of jaws, and the rotation of the gripper.
4. The grippers uses two RC standard servo motors. One servo rotates between 0 to 180 degrees and the other servo is a 360 degrees servo, continuous rotation servo.
5. The gripper can be connected directly to all Arduino, Raspberry Pi boards and PICAXE boards or any other board.. The boards don't need shields. We can use the standard pins of Arduino.
6. The micro switch of the gripper designates the closing of the jaws.

This video shows an Andromina gripper 4 v1.1 controlled with a Arduino UNO board. The two servo motors are connected direct to the board, without shield. In this video the gripper manipulates a can of 0,33 kilograms (0,728 lb). The next pictures show the main details of this gripper.

Robotic gripper with two servo motors.

Andromina robot with a IR remote control. (Arduino, Raspberry, PICAXE, ROS robot)

In this post we show the Andromina robot which it is controlled to a IR remote control of a PHILIPS TV. The robot has the basic configuration, with an Arduino UNO board, a proto shield modified with a voltage regulator of 5v, a motor board and a IR remote control. In this configuration the robot sketch is a bit complex and we can add a lot of movements and functions. In the sketch, we have set preset buttons with a maneuver or buttons for example to accelerate or turn the robot.

Andromina robot, 4 directional wheels. (Arduino, Raspberry, PICAXE, ROS robot)

These videos show the main features of Andromina robot, this robot carries 4 directionals wheels that they can turn 90º to 0º and 90º to 180º. Four standard servomotors control the rotation of the wheels and they can rotation  independently of each other.