Custom Part Manufacturing Guide
Calculating Kinematics of a CTR
Graph Paper In-Plane Bending Experiment
Out-of-Plane Rotation Experiment
Before we can use the robot for any experiments, we need to set the home position. We define the “home position” for the robot as the position where all tubes are curved in the vertical direction, and the curved sections of all tubes begins at the very front plane of the robot.
We define this front plane as the front of the acrylic end plate. If the robot has an external frame mounted on it (used for position tracking) we define the front of the robot as the front of that frame. See the image below. For these instructions, we will show how to home the robot with the additional orange frame on the robot purely because it increases image contrast. The procedure is the same without the frame.
This guide assumes you have a robot (actuation system with tubes installed) that is connected to a computer.
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This step is very important to make sure all three tubes are not rotated with respect to each other. It is difficult to tell which tubes are rotated when they are all nested together, so this step isolates the curved section of each tube as much as possible.
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travel_for() function to do this.
<aside> 📎 Note that this step assumes that the lengths of all curved sections in your tubes are equal. If you have designed custom tubes with differing curved sections, you will need to position the tubes using a different technique.
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set_current_pose_as_home() command to set the current position as (0,0,0,0,0,0).That’s it! You have successfully homed the robot. Now it is configured to conduct experiments.