Vonven manipulator on the modelling servo drives

[Vermes]

This device is a manipulator - station for segregation of coloured balls. The structure was made of aluminum, galvanized steel and polyamide. Robot's body was made of aluminum and double bearing, because of what it is very stable and durable. The working tip of the manipulator is a pneumatic bellows suction cup, which adapts very well to the spherical shape of the coloured balls.
The mechanism creating a vacuum in the suction cup is a servo drive and small industrial actuator. Thanks to using the actuator, the whole system of vacuum is very tight and holds the ball more than ten hours.
Auxiliary systems are:

• balls mixer, which provides pouring the balls into the slot, where the ball colour is recognized
• ejector, which pushes the ball to the receiver after the ball colour is recognized

Electronic part consists of:

• two infrared transmitters and receivers, which detect the presence of balls in the right places
• colour sensor, which recognize the colour of the ball
• driver with built-in USB programmer, which controls the entire cycle of the station

The program contained in the driver was written in C.

Link to original thread – Manipulator Vonven na serwonapędach modelarskich