{"id":909,"date":"2014-05-20T06:11:08","date_gmt":"2014-05-20T06:11:08","guid":{"rendered":"http:\/\/itp.nyu.edu\/~tsr267\/MyPOV\/?p=909"},"modified":"2014-06-01T08:37:21","modified_gmt":"2014-06-01T08:37:21","slug":"creatures-update","status":"publish","type":"post","link":"http:\/\/www.steintalya.com\/itp\/creatures-update\/","title":{"rendered":"Creatures Update"},"content":{"rendered":"

I’ve been working a lot on building this creature, and figuring out the structure.
\nThis is my first attempt using wood, hinges and strings.
\nA quick model to figure out the proportions, and the structure.
\n\"progress-blog.002\"<\/a>First arm Attempt.
\nI found an open source robotic arm<\/a>. \u2028\u2028I first edited the file to fit mg995 motors, and mg90s. I choose them because of their metal gear heads in order to deal with the pressure of human touch.
\nFor the first test I used foam board for rapid prototyping.
\n\"progress-blog.003\"<\/p>\n

Moving on to plexiglass. This is about my 15th cut. \u2028A motor in the wrist, elbow and 2 in the shoulder for a pan and tilt motion.
\n\"progress-blog.004\"<\/p>\n

Then I added fingers, connected just springs, to get there slight movement.\u2028I switched all if the screws and standoffs to nylon, in order to reduce weight. \u2028Trying to make the arm as light as possible.
\n\"progress-blog.005\"<\/p>\n

I\u2019m using mpr121, a capacitive sensor <\/a>that allows me to have 10 different places of touch, using just 2 pins on the Arduino.