TRAC3R - MOC LEGO Mindstorms EV3 drawing robot arm

[@michaelbaucum6787]

As someone working toward a master's in robotics engineering, I can tell you that you did an INCREDIBLE job with this. Keep it up!!

[@Stahlfabrik]

Thank you! This makes me happy! I saw a similar machine and wanted to do that, too, so I started figuring things out. Especially mathematically it was very research and reading intensive.

[@MathewPendleton]

whoah at the maths that must be involved from that elbow joint.

[@Stahlfabrik]

There are finished science papers and resources online that give you the formulas you need to calculate 😀

[@botbit8618]

The angles are calculated using the spherical law of cosines. I gave on my channel the calculation of angles for printrbot, you can see kzbin.info/www/bejne/gGSyeaCIm72VeLM in the fourth minute. In this case, it is even easier, because you need to calculate one triangle, not two as for print3rbot.

[@cadcoke5]

I have had a compatible project in mind. However, rather than an articulated arm, it was to be arranged like a Polargraph (pen suspended by strings) or a CoreXY plotter, (though that would require a beam of some sort). The end goal was to make something that can do enlargements of some patterns or do some very large scale drawings. I had in mind a 5ft x 10ft area. Then I realized that a Mindstorms kit has all the necessary hardware, except for some string and a pen. I have seen some other projects that used Mindstorms for a Polargraph machine,, but without the code to run it (E.g. the Spider Plotter). I also figured it would be possible to move all the motors to the pen holder, so that it would be able to use the stock Minstorms equipment. If I go with the CoreXY type of plotter, I think that would be a much more accurate system than the Polargraph. Though, it would require some non-standard Mindstorms parts. But, I think those might simply be as basic a part as a broom stick, if I can design the system to roll along its length. Your Minstorms project is the first I have come across that would accept SVG graphics. Others had the coordinates hard-coded into the mindstroms code, or didn't make reference to how the drawing was brought into the system. Another thing I would like to do, is to make use of the Bluetooth interface, since that is stock Minstorms equipment. I have no experience talking to the Mindstorms system over Bluetooth. Would you be willing to advice me on my own project? [e-mail]

[@bazmarc]

Very nice bot and well documented video ;)

[@diamondminer7233]

YOU NEED MORE SUBSCRIBERS MAN YOURE TOO COOL (sorry for _capslock_ )

[@Stahlfabrik]

Thank you. Very kind of you.

[@欧蕾-h4c]

good boy nice drawing

[@KidsandchipsEs]

GREAT WORK!

[@Stahlfabrik]

Thank you so much!

[@AspireForHigher]

Very cool. I'm also working on a similar project (a laser engraver/plotter) but I keep getting exceptions while programming in eclipse.... so I guess I have to keep trying until I fix it... Thanks for sharing this robot... I have no idea how you figured out all that code. Simply AMAZING.

[@Stahlfabrik]

Hi, thanks a LOT for your kind words. How is your laser engraver project doing? I hope to see a video of that in action some day! I figured out the code kind of "learning by doing". For the maths I had to find and read some adequate literature. It was fun! I think though that the robots program could be SO much better - especially regarding the input (e.g. webcam portraits etc)

[@AspireForHigher]

+atStahlfabrik So I gave up on that laser engraving project and now I'm working on a pen plotter instead... one with an x/y /z axis. Looks like I'll be sifting through a lot of lejos documentation.... first I need to have it analyze an svg file, then have it draw it... I imagine that your drawing machine is more complicated than mine will be.

[@Stahlfabrik]

Awesome! I hope you will do a video as well!

[@MarcelloCavazza]

Amazing work!! How do you turn the rotary motion into the horizontal one of the pen holder? Do you use a rack?

[@emmarina3525]

that is adorable!!

[@Stahlfabrik]

Thank You!

[@emmarina3525]

No problem! Also, what card/motherboard does TRAC3R use?

[@Stahlfabrik]

+amelia nightwolf sorry I just read your question. What do you mean by this? Please elaborate a bit more

[@emmarina3525]

It was about which motherboard the robot uses, I'm pretty much an idiot to all that stuff so I don't know a lot

[@galvandavis]

can you give me The description of your battery please? i need something like yours

[@Stahlfabrik]

I put the link into the video. Google for poor man's battery Mindstorms...

[@gioshonia2594]

this is cool

[@vdd7393]

Where can i find building instructions>?

[@TheWaterParrot]

did you design it? looks awesome

[@Stahlfabrik]

Yes, I had my inspirations but the model and program was done by me

[@ivomichalik386]

Super :-)

[@Stahlfabrik]

Thank you! Very kind!

[@josephstivencardonavega9029]

can i get the building instructions for this robot please

[@Stahlfabrik]

Yes. Please read the other recent comments! Thank you.

[@3dprintwiz378]

Nice build. Is it running on servos or steppers?

[@Stahlfabrik]

It uses the the regular Lego mindstorms EV3 motors - both variants. I am not completely sure in what camp of motors these do fall

[@airnbeer]

Can you advise me a lego mindstorm kit to make this printer

[@Stahlfabrik]

+Aaron Fernandes Me personally I have the standard end customer ev3 set. But then I went to bricklink and bought all the parts that are in the education box but not in my standard box. Some ev3 specific parts I got from Lego support rather cheaply. Just give them a call. If you want to build trac3r you should buy the standard ev3 set and then study the parts list of the box. You can find it online. Then compare this list to the building instructions that I provide (the Lego designer file) I used an excel sheet for figuring out what parts I have and what parts I wanted to buy in addition.

[@airnbeer]

Thanks

[@holmrekr]

must all ev3 creations have an all caps, 3 containing name?

[@Stahlfabrik]

+holmrekR Are you serious? But if you look at all official EV3 robots: yes, this is the naming convention that Lego uses itself. So why not use it for MOCs? I find it funny.:-) To answer your question: If there is an "e" you replace it with "3". If there is NO "e" you DO NOT ADD AN "3". LOL

[@03495peter]

It has vision to see the source picture or not? if Yes, u get the contour's coordinate, and let robot draw the contour point to point by knowing these coordinate, is that right? because i have to do the similar things this semester

[@Stahlfabrik]

+陳緯軒 No. There is no optical system like a camera to scan the source picture. In my implementation the SVG file with the source picture is stored in the file system and read in to be processed. Does this answer your question?

[@03495peter]

OK, thanks

[@skype1376]

Which software or program you are using?

[@Stahlfabrik]

I programmed it in Java programming language using the Lejos library/SD card image

[@YamsYT]

I recently got my own Mindstorm, and I was wondering something about the talk option. I know that Lego has a bunch of files already for you to use, but is there a way to get my own sound files so my EV3 says it? Please help!

[@Stahlfabrik]

Yes you can play any sound. You have to search (google, the documentation) for how to do it. You will have to convert your sounds into the correct format - but you will find out!

[@YamsYT]

Thanks. If I have any problems I will ask again.

[@jorgearielcastrorojas1968]

increible

[@Stahlfabrik]

Thanks!

[@skampala1]

+atStahlfabrik Can I get the building instruction..please..?

[@Stahlfabrik]

Of course! As mentioned in the video, you can find everything on github. The building plan is there for the Lego designer program. If you build it, I would like to see a video of your version! :-)

[@skampala1]

+atStahlfabrik In which file, Sir? Umm btw are there any instructions to build the body of the robot? Btw Thanks in advance..! 😀

[@skampala1]

+atStahlfabrik Like some parts used above are not available in the LegoMindstormsKit..so, will it be okay if I use a small turntable ?

[@Stahlfabrik]

+Shaham Kampala The File is "TRAC3R.lxf" You need the lego designer to view it ldd.lego.com When you load the file in the designer, you should be able to see everything you want to know!:-)

[@skampala1]

+atStahlfabrik Oh thanks..! I'll check it out soon and let you know..! Btw you're brilliant..this is a great project..! If we could improve the precision it would be the best..! I'll keep you posted..! 😀😀

[@bhodiecummings1363]

Do all these parts come in ev3 set 31313

[@Stahlfabrik]

+Blueflare1o1 no. I bought additional parts from bricklink for this creation. But not that many.

[@okaccaccprost1389]

hi!give me inctruction and programm of this robot plssss\

[@wendinedits4918]

How do I build?

[@yza2387]

The moment you realize that robot draws a better Star than you...

[@Stahlfabrik]

It actually kinda does. LOL

[@diamondminer7233]

atStahlfabrik Can the robot draw any shape or only 1?

[@diamondminer7233]

DiamondMiner Never mind 30 seconds I realized you can do any shape LOL!

[@조민기-u3n]

that's what i wanted to say :(

[@harshdobariya1030]

can u give me motor description that is used?

[@Stahlfabrik]

I used the three standard ev3 motors that come in the package: 2 large, 1 medium

[@harshdobariya1030]

thank you for sharing

[@carloseduardogalarzareyes6493]

this smells to Hugo Cabret ;)

[@tunahanyldz2697]

You'd help me understand

[@Daniel-ve2sm]

please haw to bulding

[@KarelCtvrty]

funny :D

[@juliangst]

Den gleichen Stift hab ich auch

[@Stahlfabrik]

Zufall?:-)

[@daylonbagwell3305]

That is bionicles not legos.

[@fdd2001]

Wow. You have WAY too less subs.

[@zerphyxios]

Im already Trac3r

[@airnbeer]

Plz reply

[@B3DNoa]

IT CANT DRAW