Kenji Tele-Robotics Platform
Introduction: Kenji Tele-Robotics Platform
With Kenji you can automate data-collection indoor and outdoor, perform facility and areal inspections, work remotely in HazMat environments, also explore and learn programming robotics.
You can control robot directly from you PC, Laptop or Remote Control from anywhere else in the World. You only would need a computer and a source to connect to internet. If you have an iPhone with LTE data on it, then you are good to go.
Kenji Piloting:
1. iPhone SE and LTE Data
2. Laptop
Technical Data:
* Dimensions: 44 x 51 x 42
* Payload: 5.0 kg
* Communication: 2.4/5.0 GHz IEEE 802.11ac WLAN, Bluetooth 5.0, BLE Gigabit Eth., 2-USB 3.0, 2-USB 2.0
* Actuators: Tower (360° degree rotation), 2 x mecha-arms with grippers and sensors
* Drivetrain: PVC or Rubber Tracks, wheels (optional)
Design
Several technical challenges have been attempted to address within this robot project:
* - Hardware Customization and Modularity
* - Tele-Presence, and Working Remotely
* - Piloting Robot via Remote PC-Station
* - Data-Acquisition and Evaluation onboard, also Streaming
* - Evaluation of roboDrive Engine in field conditions and some tests
Step 1: Field Operations
Step 2: Resources to Build One Unit
Huh... I was thinking to write down the list, but then I have realized how long it will be.
Therefore I will just give some preliminary list, and will attach some BOM and excel shits for those who will be interested. Please give me a shoutout if you want a detailed list and from which level you would like to start.
* roboDrive Engine https://physalislabs.org/ (ready module, or just empty PCBs without soldered parts DIY)
* carrier-frame (CNC machined)
* mech-arms x 2 (14 x high-torque robot-servos)
* Tracked PVC drivetrain
* Tower/Mastcam with tower-drive
* Rechargeable Battery Backpack
* Wireless Communication and onboard compute module
* Remote-Control (optional)
* Charger
* Programmer
One way would be to get the empty PCBs and purchase BOM via Digikey and
start soldering by yourself. Or you can even go below that, by just getting the CAM data and finding your own printing contractor. When you are finished with the components and PCBs, you can then proceed to mechanics and other parts of the robot.
After mechanics is done, it will be possible to power-up separate modules and see their status, and if there are mistakes then work on them, before moving forward.
Step 3: Sneak-Peek' Assembly and Production
While working on robot's design the ocean crab's anatomy was studied and replicated on robot to a certain degree.
Lightweight aerospace aluminum alloys of series ENAW2024 have high-strength to weight ratio. Therefore it was used as base material to produce the carrier-frame. 949
The carrier-frame is used for module-integration. The inner part of the plate is machined out completely and only thin parts are left which carry the entire weight on them. The frame is wide similar to ocean crab's body and locomotion is achieved side-wise positioned actuators. Armature has two pointing out sides which helps <PERSON> to recover in certain scenarios when there is a dis-balance on a rough terrain.
Step 4: Sneak-Peek' Design
Assembly, calibration and testing process can take up to 2 weeks. Here are summarized steps:
- Procurement
- Soldering and Assembly of the PCB (SMT and THT)
- Actuators Assembly (drivetrain, mecha-arms, tower)
- Module Integration and Programming
- Installation, Testing and Calibration
- Everything works? then Pilot your mech. Fun Fun Fun!
It seems that two weeks would be an optimistic estimation.
After it has been correctly assembled, tested and calibrated. Later it can be easily reconfigured towards applications demand. External hardware (payload containers, mercha-arms, etc..) can be attached and integrated using mounting inserts and power-velcro straps.
Step 5: RoboDrive Controller and the PCB Stack
Robot control is enabled on two tier system. This allows user to gain access to low level hardware directly while at the same time operating on operating system something like embedded Linux SBC.
roboDrive Engine is a hardware efficient, low-level and simple method to interact with the robot. Upon power-cycle, It starts interacting with the user in real-time. 949