Prototypes we have done at Arlyn Toolworks:
- A proof of concept
prototype for the ChairBot Wheelchair Mount
Robot Arm. This is a lightweight, easy- to-operate robot arm for people
with high level paralysis. It mounts to the arm of a wheelchair and enables
its user to retrieve objects from shelves, drawers, counters, refrigerators
& cabinets, feed themselves, open & close residential doors and
push elevator buttons. It was developed from the Feeder Robot, using the
same RC servo technology and adding a Vision System to make it easy and
intuitive to use. I did mechanical, functional and software design as well
as much of the programming for motion control and vision.
- A proof of concept
prototype for the Arlyn Feeder Robot. The unit
has six degrees of freedom plus gripper. The gripper can both grasp tools
and operate them. Our design and work includes the physical unit (with considerable
help from Brad Gish, my excellent machinist and technician), the gear reductions,
the adaptations to radio control servos, the software architecture, the
multiple interfaces (speech, mouse, joystick, gamepad), the coding of the
software, the adaptation of a motion control library, the gripper, the two
tongs the gripper operates, the utensil rest, the electronics and lots more.
There is a short video and a brochure available. Request
a Copy
- Proof of concept prototypes
of five Voice Operated Desktop Tools. These included a voice operated vice
with wrist, hand with wrist, pincer gripper with wrist, table top mobile
robot and an 24” elevating arm for the pincer gripper. These were designed
and built completely from scratch in our shop.
- Multiple Prototypes
for the Arlyn Arm, 1993 through 1998. The first versions were air operated
with position feedback. The later ones used motor/potentiometer pairs. The
Arlyn Arm consisted of a human-like hand operating in a 24” cube over
a specially designed table. In addition to handling and manipulating objects,
the hand can operate trigger-type tools such as an electric drill. Using
scanning as indicated by a 2 line LCD display the operator can also trigger
two 110 vac outlets to turn tools on and off while using them. We have also
developed a line of accessories including a book holder tray, a tool holder
tray and a file folder tray. These trays are on ball casters and can be
moved in grooves in the special table top. There are also a set of tools:
a book (page turning) tool, a tong and a file folder tool. Operators have
succeeded in doing tasks as diverse as using needle nose pliers to pick
up tiny objects and using a turkey baster to transfer fluids. There is a
video which shows the most recent version in operation. Request
a Copy