Virtual Wall with the 3D printed haptic prototype

Our prototype of our version of the 3D printed Stanford’s Hapkit V3.0 is now functional. It uses the same electronics and motor. The pulley sizes are the same, however the big wheel has been redesigned to properly attach and support the capstan cable. The support wall has been optimized and reinforced using dual common ball bearings.

 

A demonstration of the virtual wall implementation is show in the video below.

 

Follow this project at: http://gomezdegabriel.com/projects/haptic-paddle-3d-printed/

 

Presented Master Thesis about EtherCat for machine control

Last July, the 10th, Ignacio Rosales finally presented his project based on the development of a machine control system using the real-time EtherCat protocol. This project has been co-directed by Víctor Torres López.

The machine is a pick-and-place machine which was previously developed as part of the 2012 Omron’s CEA award.

Extensive work for reverse engineering the Omron servomotors and integrating into the LinuxCNC fwamework has been required.

As a result, a new architecture for the development of machines, with an excellent real-time response and high flexibility has been tested.

In the video, a demo of the system can be seen.

Great work, Nacho!

 

Presented Master Thesis on autonomous electrical vehicles

The amazing work of Francisco García was bringing to life one of the old electrical tricycle used for people transportation inside the Expo’92 in Seville, last century.

His work was to design and implement an steering control system. We used new lead batteries (12 + 12V) and added a servomotor with direct coupling to the steering axe.

The controller has been implemented with an Arduno Mega and the PID control has been tuned and programmed in simulink.

For testing purposes, an open loop throttle control system has been added, making it easy to remote drive the vehicle using a PS2 wireless joypad.

It was bot hard and fun.

Thanks, Francisco!

Presented Master Thesis about resin 3D printer

Last July, the 9th, Ernesto Guerrero presented his Master Thesis Based on the development of a 3D printer for nano-hybrid resin printing.

He took the Lisa Simpsons design as a starting point and implemented an innovative bowden-like hydraulic extrusion system. There is still some work to be done before this device may be used for medical and dental applications but he got very promising results.

Thanks, Ernesto!

Presented Master Thesis about CNC machine control using FPGA

Last July, the 8th, Alejandro Barranco, presented his Master Thesis based on the implementation of a control system for a CNC milling machine based using LinuxCNC and the cards from MESA Electronics.

This CNC is based on industrial brushless motors with analog speed controllers from Baldor. He rebuilt all the electronics of the control box, tuned the controllers, installed a  new water-cooled spindle, and customized the control software.

Good job! Thanks, Alejandro.

Fisrt tests of our build of the Hapkit Standford’s haptic device

This is the first test of our build of the Stanford’s Hapkit haptic device built in the School of Engineering of the Universidad de Málaga (Spain) by Juan Gandarias.

This device is intended to be low cost and easy to build, which could make possible teaching haptics, control and telerrobotics all around the world.

In the video, a basic spring model is being tested. Although the motor axis alignment and the friction of the neoprene contact is not perfect,
we are happy with the results.

We used some different components and made some modifications to make it easier to build in Europe. Other changes are coming to make it more robust by using the reprap’s diy experience.

 

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Stay tuned!

Gracias, Juanma!

 

3D printed vacuum ejector: First test

After a previous prototype which didn’t work, I tried to make a new one.

This time I decided to start from scratch with a new design and using ABS.
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I printed this part vertically to have better alignment in the main axis.

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Although some reinforcement with acetone was needed, the prototype is ready to hit the lab.

This time a quick and dirty trial using the hand air gun.

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The results are amazing!20150520_111807_HDR[1]Even without the silicon suction cups, this ejector was able to pick small and big parts.

See the video below

More about this is still to come.

 

Using Model-Based Development for Teaching Fault Tolerant Systems

I’m using Simulink’s Stateflow as a tool for teaching Faul-Tolerant Systems in the Master of Mechatronics at the University of Málaga.

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Using Stateflow for the developmet of Fault Tolerant Systems

One technique for the fault diagnose of systems is based on the modeling of the system as an Finite State Machine (fms), and all the possible trajectories as an special fsm called “diagnoser”. It is based on different methods and used in the classroom as published here.

In this case we are using this tool with surprisingly good results:

  • No programming needed (just modelling)
  • High level model is created with good implementation separation
  • The student starts building successful simple programs since the first moment
  • Teachers avoid the hassle of always changing IDE’s, versions, and implementation platforms.
  • Thanks to Harel diagrams, Complex systems with high readability can be modeled.
  • Teaching time is reduced.
  • Laboratory time is focused on the problem. Leaving spare time for proper documentation.

It’s not an open source platform, but definitely I’m going to use this tool extensively.

Thanks to my students.

Please, download and cite this work:

Gomez-de-Gabriel, J.M.; Mandow, A.; Fernandez-Lozano, J.; Garcia-Cerezo, A., “Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems,” Education, IEEE Transactions on , vol.PP, no.99, pp.1,1
doi: 10.1109/TE.2014.2358551
keywords: {Education;Fault tolerance;Mechatronics;Mobile robots;Navigation;Robot sensing systems;Engineering education;LEGO Mindstorms NXT;LabVIEW;fault detection and diagnosis;higher education;mechatronics;mobile robots;project-based learning},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsptp=&arnumber=6914629&isnumber=4358717