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Nathaniel Nifong

@VMises76153 • 1,189 subscribers

Building the $1000 solution to picking up household clutter https://t.co/uS2EebZOON https://t.co/DCLUd7lxFY

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This is Stringman. An open source room scale CDPR compatible with LeRobot and designed for picking up laundry. Ilir Aliu $1235 assembled at

This is Stringman. An open source room scale CDPR compatible with LeRobot and designed for picking up laundry. Ilir Aliu $1235 assembled at

78,678 просмотров

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Why CDPRs are the best robot for household work Get one at

Why CDPRs are the best robot for household work Get one at

Nathaniel Nifong

1,460,660 просмотров • 28 дней назад

A robot arm basically has a rocket equation problem. Each motor closer to the root must support the weight of all the ones above it. An advantage of cable robots is that the motors don’t have to be on the moving part. In a CDPR you can place all the main motors on the wall, and they can all be the same part with the same torque. You don’t even have to place one in each corner. In theory you could have a cable robot in every room in your house and put all the motors in the basement with the lines passing through PTFE tubes in the walls. In Stringman, each anchor has a pair of motors, one direct, and one indirect, routed though a ceramic fishing eyelet in another corner. Consolidating the motors into fewer components drives the cost down, but two camera angles still gives a good view of the room. The spool motors are Damiao direct drive actuators (DM-H6215). And unlike an arm, they’re all sharing the load, so they can be one of the smaller models, and having no reducer keeps the noise to a minimum. If you want a cable robot in every room in your house by the way, I’m your guy.

A robot arm basically has a rocket equation problem. Each motor closer to the root must support the weight of all the ones above it. An advantage of cable robots is that the motors don’t have to be on the moving part. In a CDPR you can place all the main motors on the wall, and they can all be the same part with the same torque. You don’t even have to place one in each corner. In theory you could have a cable robot in every room in your house and put all the motors in the basement with the lines passing through PTFE tubes in the walls. In Stringman, each anchor has a pair of motors, one direct, and one indirect, routed though a ceramic fishing eyelet in another corner. Consolidating the motors into fewer components drives the cost down, but two camera angles still gives a good view of the room. The spool motors are Damiao direct drive actuators (DM-H6215). And unlike an arm, they’re all sharing the load, so they can be one of the smaller models, and having no reducer keeps the noise to a minimum. If you want a cable robot in every room in your house by the way, I’m your guy.

Nathaniel Nifong

270,122 просмотров • 4 месяцев назад

Parallel gripper or rotating gripper? Why not both? Stringman uses a linkage that produces a near parallel finger movement for fine grasping but still opens wide to get around large objects.

Parallel gripper or rotating gripper? Why not both? Stringman uses a linkage that produces a near parallel finger movement for fine grasping but still opens wide to get around large objects.

Nathaniel Nifong

48,607 просмотров • 5 месяцев назад

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