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Glaysche

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  • Birthday 01/12/1975

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  1. Glaysche started following LEGO Mindstorms to be discontinued , [MOC] Tic-Tac-Toe playing machine (no electronics) , [MOC] 6 Axis Robotic Arm, 4th revision and 7 others
  2. Glaysche
    I have not seriously looked into this. The reason is a bit ironic. My day job is a software developer and if I'm going to write software, I'd rather do it at work. For my hobby, the mechanical part of it is so much more fun. I built the 6 axis remote control so I could easily exercise all the mechanics without spending too much time writing Python. If I ever want to incorporate the robotic arm into something bigger (like a GBC module perhaps?), I would probably sit down and actually write that code. Oh, I just realized you replied to my old thread. I much more recently posted a new thread with my newest version of the robotic arm: Any conversation should probably move to that thread.
  3. Glaysche
    Thanks! The alternative to using the three functions through the turntable part would be to move three motors and a hub further out on the arm. This is awkward given the port counts of the hubs available. I could probably replace the 2 port hub on the humerus with a 6 port hub to control axes 3 and 4 plus the sensor for axis 4. Then I would need a 6 port hub beyond axis 4 that would control axes 5, 6, and the gripper. This ends up putting more weight on the axis 4 turntable which is already pretty stressed. It would certainly be nice if Lego offered a light weight compact 4 port hub -- the Spike Essential hub with two additional ports would be amazing. (Unfortunately, Lego just cancelled the Spike line of products so there is not much hope for Lego robotics going forward). The last time I considered a design like this was several years ago. There are new motors, hubs, and parts available now which may make a design like this possible now. I have not considered saving calibration information on the hub. It's pretty easy to manually move many of the axes so I just made the code start fresh each time to ensure everything is properly calibrated.
  4. Glaysche
    Here is a link to the Rebrickable page with my newest version of the robotic arm: https://rebrickable.com/mocs/MOC-229914/glaysche/6-axis-robotic-arm-mk3/#details This includes free-to-download Studio file, PyBricks code, and STL file for the one 3D printed part that is used (courtesy of @efferman). Basically everything in the design is new compared to what I had posted previously in this thread. My focus was on making it work as precisely as I could which included changes to the gear trains mentioned before and more rigid structures enabled by new parts and new ideas.
  5. Glaysche
    Thank you for your interest in this! I’ve actually made a lot of progress on this since I have last posted about this. See my Rebrickable page. There’s a third generation robotic arm on there that is more accurate by drastically reducing slop in the gears and shortening gear trains. I switched to using Pybricks for control so it’s very easy to start with what I have and modify the code.
  6. Glaysche
    I started with an RC PoweredUp mod. I think I have something pretty good for the tracks and rotation. I haven't started on converting the top functions yet. The motors and hub are pretty well hidden when in this position. When the top rotates, it becomes more visible. The lower section is very height constrained. I ended up with the support for the gears on the bottom being 2L lower than the rest of the chassis, reducing ground clearance. It might be possible to put those gears inside but that would require much more major changes to the structure. I might revisit after converting the top functions.
  7. Glaysche
    Lego is a challenging but satisfying medium in which to build robotics. There is a lot of backlash in Lego gears which can reduce precision but there are techniques to counteract that. When you gear down, the effects of backlash are reduced. You can take advantage of this in some circumstances. You can gear up before going though a long chain of gears and gear back down at the end. You can create two parallel gear trains that are built with a slight tension. That can almost entirely eliminate backlash for those gears. You can reduce slop by using connectors in place of bare cross axles that twist a lot less. You can use multiple motors on the same joint for more power and less slop. All Lego flexes under stress which reduces precision. You can compensate by building structures with reinforcing in multiple directions. You find a way to incorporate triangles into the structures. Sometimes you can use interlocking frames to make something very strong and rigid. Finding creative solutions to the shortcomings of Lego is part of the challenge and part of the fun.
  8. Glaysche
    I love this! I am a sucker for all things robotic. I've only used the absolute positioning on the angular motors (https://rebrickable.com/parts/69730/motor-large-angular-position-light-bluish-gray-housing-black-wire/ and the medium and small versions as well). With those, you are able to access the absolute position. I at least used it from Mindstorms software -- I haven't used PyBricks. The angular motors also have a printed mark on them for the 0 position. That helps lining things up when you build it.
  9. Glaysche
    This is really nicely done and well presented. I think the counterweight is a really nice touch. One question, did you try gearing it to move faster? Was this the fastest it could reliably move using the XL motor? One thing to try is to use the large anglular motor (https://rebrickable.com/parts/69730/motor-large-angular-position-light-bluish-gray-housing-black-wire/). It is more powerful and may be able to support faster movement.
  10. Glaysche
    @Unbrickme's video is content relevant to this discussion. It is completely appropriate for him to post it here. I would not have seen it if he hadn't posted and I found it useful. Even if he doesn't make any other posts except for a link to his video, it is still useful, relevant, and appropriate.
  11. Glaysche
    For what it is worth, I thought the title was fine. I enjoyed watching the interview. Nothing mentioned was particularly new to the EB community but it was still good for me. I suspect people at TLG will watch the interview and it’ll be another data point for them to understand the AFOL Technic community which is a good thing.
  12. Glaysche
    This is some more detail about the new truss part from New Elementary:
  13. Glaysche
    Very cool. I love this!
  14. Glaysche
    New Elementary write up for the March wave of Technic parts: https://www.newelementary.com/2023/02/lego-technic-parts-review-42152-42153.html?m=1
  15. Glaysche
    I’m pretty sad about this. I really like the PoweredUp ecosystem, particularly when using the RI or Spike Prime hubs. The hardware is great and the software is bad but has been steadily improving and is certainly usable now. I’ve made it a point to use the Mindstorms software for all of my creations because I thought it was more accessible than something like PyBricks. I want other people to be able to build and program the things I publish on Rebrickable. The Spike Prime software does not have the features I need. Now it seems like there is no platform to build on that is accessible by everyone. I wonder if the logistical hassles related to shipping rechargeable batteries has anything to do with this? Lego Education charges way more for shipping and is probably more tolerant of these sorts of issues. TLG may be trying to streamline their main business.
  16. Glaysche
    Well, here are some pictures of the new turntable compared with the old. The new one is on the left. The most interesting change to me is that they are now using 6 clips to hold the two halve together rather than just 4. Will this make it stronger in certain applications? It does appear to work with a chain.
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