Hi everyone,
While I can easily see how to create a driving base from a kitbot, I’m very confused about how teams go about attaching manipulators to their kitbots. So I’m asking the question: “How do you interface to the kit frame?” pictures and videos are also very appreciated.
Our team has been using what is essentially just the kit bot frame every year so far…
We found that adding an additional level makes finding places to put things much easier. Other than that… well… let’s just say we make good use of all the plywood we have.
you can find many pictures of our bot throughout the build season here: https://picasaweb.google.com/107087800921542256620/Robotics20112012
Start with the holes provided in the Kitbot, and bolt (or rivet) to those. Cut parts of the kit frame away as needed/allowed to provide freer motion.
Of course, the attachment may require some right-angle brackets to hold any superstructure on top, and will almost certainly require extra material for the superstructure.
For example, let’s say that I wanted to run a single-joint arm on top of a KB chassis. The arm needs to be on the floor within the frame, but will go outside the frame when in operation. I have a plywood bellypan (it’s cheap and strong, if a bit heavy). Phase 1, get the vertical supports bolted to the inner frame rails in the right place. If that’s impractical due to spacing, make a bracket to attach to the plywood. Phase 2, locate a sawzall or jigsaw or hacksaw and cut out a notch in the front of the frame and the plywood until the arm goes to the floor.
Different manipulators will take different attachment points, so plan ahead. A little bit of pre-planning to use existing holes can help save time and energy.
One of the tricks in our toolbox for prototyping is this product [http://www.estoconnectors.com/index.php/connectors/thumbs/category/1-inch-square/](Esto Connectors). The connectors themselves are designed to fit into 1/16th of an inch 1 inch box extrusion. You can put a superstructure together pretty quickly and easily surface mount it to the KOP frame or the plywood bellypan as previously mentioned.
I know here at AndyMark we sell vertical attachments that bolt to the kit frame. You can use the vertical corner links to attach c-channel vertically and build up.
We have used 1" 8020 extrusion. It’s pretty fast to put together and it integrates pretty seamlessly with the kitbot. Just like the kitbot, it uses 1/4" hardware and regular 1" spacing.
It can be heavy and expensive, but if used properly it can save tons of time. (especially if you have limited machining resources)
if you are willing to modify your spacers, you can flip the inner rails, and use more of the corner extrusions to add inner structures. I’ll have to try and find the CAD.