KAUDA PRO
KAUDA PRO VERSION
Is a robotic arm born from the continuous improvement of the KAUDA Robot.
The Robot has multiple improvements at HW and SW level, increasing its performance and possible applications. It can give the opportunity to learn mechanical, electrical and IT notions, suitable for enthusiasts, makers and students.
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Mechanical
PRO VERSION features a more attractive and professional design.
The movements have been optimized, requiring the use of only three NEMA17 stepper motors and two servomotors.
The axes driven by the stepper motors are characterized by the presence of an epiciloidal reduction gear designed and studied specifically for the robot, resulting in an exponential increase in the drive torque and the fluidity of the movements of each axis.
The base of the robot, that is the first axis, does not generate noises due to the sliding of components between them in the rotation phase, thanks to the use of bearings suitable for the application.
Electrical
The electrical system collected at the base of the robot is equipped with an Arduino Mega, combined with high-quality drivers for managing the motors and a Raspberry that allows for a dedicated control and programming logic.
The emergency button on the base allows the blocking of all axes in case of anomalies or dangers.
Everything can be easily connected via the USB A / B connectors and the ETH connector placed on the side of the robot.
It also offers the possibility of adding a 12-pin connector for customizing wired controls.
Software
Kauda can be managed by dedicated software.
A digital twin that will simulate the movements of the robot on your desk, and then apply the preset on the real KAUDA!
The possibilities will be many, the management of the robot will still be free and at the discretion of the owner of the robotic arm!
There will also be the possibility of applying a vision system for object recognition with the presence of artificial intelligence!
Measures expressed in millimeters
KAUDA PRO VERSION
KAUDA in this latest version has undergone important improvements from every point, without losing the main values that characterize the KAUDA robot, therefore low costs and a totally DIY realization.
IMPROVEMENTS:
MECHANICAL
On a mechanical level, the KAUDA PRO robot has been greatly improved, starting from the increase of fluidity in movements through the use of a dedicated reducer, to the reduction of noises emitted by the axes during movement.
Unlike the original Kauda, the latter is also equipped with an exact control of each axis, through the use of economic but functional rotary encoders, very useful even in the event that the motor loses its position or you want to reach a certain position with maximum safety.
The design is also more attractive and innovative, also allowing a cleaner and tidier cable management.
Finally, the fifth axis, through the presence of a small stepping motor, allows the installation of multiple tools, driven by a 360 ° rotation.
The base is equipped with an axial bearing, which drastically reduces the noises generated by the spheres of the original version, in addition to this, it makes the rotation of the axes on it much more stable.
The connection system of external devices has also been improved, therefore the connection to the PC, or other custom devices, thanks to the presence of two USB ports and an ethernet port, closing with the presence of a GX20 connector to be able to connect a custom device.
The base, like the remaining axes, is equipped with a rotary encoder with 20/40 positions, in order to know in detail the position of the robot and to conclude also an emergency button, which connected to the robot's power supply system, can cut or l '' power supply to the robot, or if managed via software, enabling movement, so as to block the robot without losing its position.
The two axes Y and X, unlike the original version, require only two motors and not three, thus saving on the purchase of a motor.
The axis is also equipped with a double planetary reduction system, which allows the achievement of a torque, at the output of the gearmotor shaft, of 8 Nm.
Torque decreases as speeds increase.
On the opposite side, as for the other axes, there is a rotary encoder, which allows you to record the current position of the axis, so that, even if the motor steps are lost, the preset position can always be reached.
The motor installed inside the axis is constantly monitored by a temperature sensor, useful for generating alarms.
The last axis is also equipped with a stepping motor that allows a 360 ° rotation of the shaft, thus being able to mount the tools we consider most suitable on it.
Basically the robot is equipped with a simple yet functional gripper, which guarantees a greater hold than what will be collected.
IMPROVEMENTS:
ELECTRICAL
The electrical control components are completely integrated inside the robot base, and among these components you can find the Arduino board and a Raspberry.
The control boards, the Arduino Mega and the Rasberry Pi can be reached via the appropriate connectors on the base, therefore two USB A / B connectors and an RJ45 connector.
On the base there is an emergency button useful for cutting the power supply of the motors or if connected to the Arduino / Raspberry board, blocking only the enabling, keeping the motors in torque, therefore without the possibility that they move.
The passage of cables from one axis to another has improved dramatically, it will be possible to use sheaths containing all the cables you need.
Each axis is equipped with a system for controlling the temperature of the motor and the position of the axis itself, through the use of temperature sensors and rotary encoders.
DOCUMENTATION
From here you can consult and DOWNLOAD the documentation you are interested in, such as STL files for printing, MANUALS and examples of WIRING and SOFTWARE.
Electrical
Click on the icon! You can download the documentation useful for carrying out the electrical project, through images and diagrams complete with descriptions, details and much more! It is advisable to pay close attention to what is described if you want to replicate the project as indicated in the diagrams, but it is not obligatory to follow the example, and you can modify and change the designs as you prefer, according to your needs and interests.
Manual & STL
Click on the icon and download the manual and the STL files! The manual is very detailed and complete with images and descriptions that will help you step by step to build your project. You will also find the list of components to be printed, components that you can download in STL format, ready to be printed. Also pay attention to the information regarding the printing properties, so that you can print the parts in the most correct way.
Software
Click on the icon and download the source files of the software useful to carry out the first movements! The software is developed in C ++, for Arduino, modifiable with the appropriate Arduino IDE. The software you can download is fully commented, and can be adapted to your needs. The software management of the robot is completely free, it is not obligatory to use an Arduino board, but any control system is allowed!
Through a small donation you can help me in carrying out future projects much more quickly, by purchasing the materials and equipment useful to carry them out.
In addition to the projects you will be able to support the maintenance costs of the site and all this follows, thanks!
COLOR YOUR
KAUDA PRO
Click on the image, you will be able to download the assembly useful to be able to make a first impression of the dimensions, characteristics and shape.
But above all you will have the possibility, by opening the file in the design environment you use, to assign the colors to the various components, even before printing, so you can understand which outfit will best suit your robot.
If you don't have a 3D design or modeling software don't worry, you will find many 3D model viewers online, which will give you the possibility to assign colors to the parts that make up the project as well.
Through a small donation you can help me in carrying out future projects much more quickly, by purchasing the materials and equipment useful to carry them out.
In addition to the projects you will be able to support the maintenance costs of the site and all this follows, thanks!