Chia-An Fan, Hongyu Zhou, Azumi Maekawa, Tomoya Sasaki, Jiayi Xu, Masahiko Inami
UIST'26
The components labeled in black are 3D-printable parts. The corresponding 3D models are provided in ./3D WRA Model and can be used directly for 3D printing.
Some components are split into two matching parts, named xxx_inside and xxx_outside, which clamp the carbon fiber tube between them. These components are fastened to the carbon fiber tube using screws, so holes must be drilled in the tube at the corresponding mounting positions.
For detailed assembly information, open ./3D WRA Model/ArmAssembly.step in CAD software such as Fusion 360, SolidWorks, or Onshape.
The U2D2 acts as the communication interface between the computer and the Dynamixel actuators. It is connected to the computer via USB and to one U2D2 Power Hub Board. The two U2D2 Power Hub Boards are connected to each other, allowing the RS485 Dynamixel bus to continue to both the left and right arms.
A single 12 V power supply is connected to both U2D2 Power Hub Boards. Each board distributes power to the actuators on its corresponding arm. The actuators on each arm are connected in series through the Dynamixel daisy-chain connection.
./Code/Armonii_4_Motions.zip contains a Unity project for exploring the four supportive motion conditions. It allows users to control a virtual robotic arm with VR controllers, or a physical robotic arm if the required hardware is available.
Coming soon
Coming soon