Freesteel Blog » Tosca the polar robot performs

Tosca the polar robot performs

Wednesday, March 23rd, 2016 at 1:28 pm Written by:

I haven’t got much time for this blogging lark today.

Before this gets too stale, here are some quick notes on the polar drawing robots that we had running from steppers and servos motors using Machinekit and drivers scavenged from the CNC milling machine.

This got shown at Phrased&Confused acoustic festival, where one of them had to perform on stage and almost peeled the corner off the paper it was drawing on.

polar2

This was the state of the robot a couple of days before:

And this was at around 5am the night before:
polar1

The project management was on github under https://github.com/DoESLiverpool/Tosca/issues.

Problems remained with the Z-axis communication and its operation on the gondola, as well as inadequate pen pressure on a vertical surface from an object hanging down next to the vertical surface. But we did learn a lot more about the CNC servo motor operation, and MachineKit on the BeagleboneGreen performed excellently.

We hope to set it up on the wall some place and continue development.

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