Mindstorms NXT FlexiBot – Test #1

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This Lego Mindstorms NXT FlexiPicker is based on the ABB IRB 360 FlexPicker. The IRB 360 FlexPicker™, is the SECOND GENERATION delta robot  for precision pick and place applications. The robot has outstanding motion performance with shortest cycle times at high accuracy, and with upto a 3Kg payload. The IRB 360 is designed to work in meat and dairy applications. A stainless option with all metal parts in stainless is IP69K validated so that it can be washed down with industrial detergents and high pressure hot water. The robot is designed with smooth and rinse-off surfaces and lubricant free joints.


The IRB 360 FlexPicker™ Picking pancakes.

After a couple of failed attempts a few months ago due to engineer/mechanical issues, I came back to it a couple of days ago. This time I’m very happy with the actuall Robot, but the support frame is a little wobley though. Working with Lego bricks on models with multiple of 3 sides,  isn’t easy.

First Test of My Lego Mindstorms NXT ‘FlexiBot’.

This was the first test using the Mindsensors PlayStation 2 Controller (PSP-Nx-v3) to control the arm via the Joystick. It works in principle, but there needs to be a lot of software refinement and testing. But I happy with the results so far. It’s a good example of Vector Mathematics in Action!I have used Vector Mathematics to transfer the X & Y co-ordinates from the Joystick to control the 3x NXT Motors. ‘X‘ & ‘YAxis Input from joystick is then converted to drive 3x Motors to give 3D Movement on the ‘X‘, ‘Y‘ & ‘ZAxis Output.

Preliminary FlexiBot NXC Code:

 

Need-More-Bricks

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