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).