Niryo Ned One - Townend Joseph

The goal of the project

The goal of my project was to build a robotic arm that would grab items off of a plate, and place them into containers depending on their colour.

Problems in the project

After the first tests, I realized several serious shortcomings. The S2 servo motor turned out to be too weak to move the metal arm, so I replaced it with a stronger model up to 35kg/cm. Another problem was the lack of electricity for all servo-motors and to solve it in such a way that there is no risk of overheating the Arduino. The solution was to modify the code to balance the hand positions and change the power source to a higher output with an output from 1.5A to 3A (Universal with the ability to change the voltage). In addition, the old head was too small to hold the skewer, so I replaced it with a new one with a wide contact surface adapted for good control of a thin wooden skewer. For even moremobility, I also added another servo motor between S3 and S2.

Conclusion

In conclusion, this project was successful at the task of sorting lego bricks by their colour.

Further developments

Movable mesh in two axes x and y - for holding the impaled fruit with a greater number of positions, which will allow the robot to process a complete set of fruit independently. Section for sprinkling strawberries with sprinkles (e.g. finely ground nuts) To program the hand to additionally chocolate the dried fruit with small lines of chocolate of a contrasting color (white, black), i.e. to create ornaments on the strawberries.

Photos and code

Find below the code block and a video of the arm opperating.

Code block for the colour sorting algorithm

Video of the code in operation