Robotic Arm Controlled by NES Gamepad

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http://www.instructables.com/id/Robotic-arm-controlled-by-NES-gamepad/

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Robotic arm controlled by NES gamepadby brunoipon July 23, 2010

Table of Contents

Author: brunoip ..............................................................................................................

License: Attribution Non-commercial Share Alike (by-nc-sa) .............................................................................

Intro: Robotic arm controlled by NES gamepad ......................................................................................

File Downloads .............................................................................................................

step 1: Tools and materials .....................................................................................................

step 2: Stuff from the printer .....................................................................................................

step 3: Small metal parts .......................................................................................................

step 4: Big metal parts ......................................................................................................... 1

step 5: Plastic parts ........................................................................................................... 1

step 6: Making the wooden base ................................................................................................. 1

step 7: Assembling the hand .................................................................................................... 1

step 8: Assembling the elbow .................................................................................................... 1

step 9: Assembling the shoulder .................................................................................................. 2

step 10: Final assembly ........................................................................................................ 2

step 11: Electronic boards ...................................................................................................... 2

step 12: Programming ......................................................................................................... 2

step 13: Running ............................................................................................................. 2

Related Instructables ........................................................................................................... 2

Comments ................................................................................................................... 2
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t r : r i

Author: brunoip Bruno Games

Robots and video games...Usuario taringuero de Rosario

License: Attribution Non-commercial Share Alike (by-nc-sa)

Intro: Robotic arm controlled by NES gamepad

In this instructable I gonna try to describe how to make a robotic arm with parts from a printer, and control it using a NES gamepad.It may look like a hard work but I have prepared templates for all the parts and I try to take pictures for all the angles in order to make it simple.Also it is a really cheap robot, most of the parts come from a dead printer.

I used two PIC16F628A microcontrollers because only one was not enough for all the motors, they are pretty cheap and easy to get instead of a PIC with more pins.
http://www.instructables.com/id/Robotic-arm-controlled-by-NES-gamepad/http://www.instructables.com/id/Robotic-arm-controlled-by-NES-gamepad/http://creativecommons.org/licenses/by-nc-sa/2.5/http://www.brunoip.com.ar/http://member/brunoip/http://member/brunoip/


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File Downloads

Metal templates.pdf(180 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Metal templates.pdf']

Plastic templates.pdf(172 KB)
http://www.instructables.com/files/orig/FSO/E617/GJQEGCJI/FSOE617GJQEGCJI.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FSO/E617/GJQEGCJI/FSOE617GJQEGCJI.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FSO/E617/GJQEGCJI/FSOE617GJQEGCJI.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FD5/RT65/GJQE91HV/FD5RT65GJQE91HV.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FD5/RT65/GJQE91HV/FD5RT65GJQE91HV.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FD5/RT65/GJQE91HV/FD5RT65GJQE91HV.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FD5/RT65/GJQE91HV/FD5RT65GJQE91HV.pdf?utm_source=pdf&utm_campaign=files


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[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Plastic templates.pdf']

Main board.pdf(32 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Main board.pdf']

-aux.hex(996 bytes)[NOTE: When saving, if you see .tmp as the file ext, rename it to '-aux.hex']

main.hex(2 KB)

[NOTE: When saving, if you see .tmp as the file ext, rename it to 'main.hex']

step 1:Tools and materialsToolsNot many tools are required, a rotary tool is perfect for cut the metal and the plastic, also if you have a driller it could help with all the holes that you have to do.For the electronics boards you will need a 30w soldering iron.

MaterialsMost of the stuff come fron a dead printer HP660, other models of the printer like the HP670 are almost the same and will be fine. The things you must take from theprinter are detailed in the next step.For controlling the robot I use a regular Nintendo Entertainment System gamepad, it is not an original gamepad, any kind will work, and it is not hacked at all, you wonneed to modify it to work with the robot.From another printer you need the stepper motor that is attached to the belt, because the HP printer use a DC motor for this and they are harder to control.Three plastic gears are required, two of the same size and one smaller.The servo in the hand was broken so y took the wires directly from the motor and control it as a regular dc motor.A block of plumb for using as counterweight, if you cant get one of these you can replace it with any other heavy thing.Electronic stuff for the boards are detailed in step 11.Wood: one piece of 54x16 cm, one piece of 11x11 cm and four pieces of 2x3 cm.

Aluminium: one bar of 8 cm and one bar of 20cm

Image Notes1. nuts and bolts

Image Notes1. NES gamepad connector
http://www.instructables.com/files/orig/FF7/NPV8/GK3TO0EA/FF7NPV8GK3TO0EA.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FF7/NPV8/GK3TO0EA/FF7NPV8GK3TO0EA.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FF7/NPV8/GK3TO0EA/FF7NPV8GK3TO0EA.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FF7/NPV8/GK3TO0EA/FF7NPV8GK3TO0EA.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOQ/1B6F/GJQEE0UG/FOQ1B6FGJQEE0UG.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOQ/1B6F/GJQEE0UG/FOQ1B6FGJQEE0UG.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOQ/1B6F/GJQEE0UG/FOQ1B6FGJQEE0UG.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOQ/1B6F/GJQEE0UG/FOQ1B6FGJQEE0UG.hex?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FE6/98RC/GJQEGCTB/FE698RCGJQEGCTB.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FE6/98RC/GJQEGCTB/FE698RCGJQEGCTB.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FE6/98RC/GJQEGCTB/FE698RCGJQEGCTB.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FE6/98RC/GJQEGCTB/FE698RCGJQEGCTB.pdf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FSO/E617/GJQEGCJI/FSOE617GJQEGCJI.pdf?utm_source=pdf&utm_campaign=files


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Image Notes1. plastic zips

Image Notes1. NES gamepad

Image Notes1. They looks like wont work but if you cut the top og the right one and the bottomof the left one they will be perfect


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step 2:Stuff from the printerI used almost everything from the printer.The plastic and the metal is used to make the plastics/metal parts.There are 3 motors, 2 steppers and a DC motor, I just used the steppers ones with the gears attached to them.I also used the cooper rings and the guide of the cartridge.From the part that moves the paper I cut the first part with the metal gear and the center of the wheels.Also all the screws can be used in the wood.Finally take from the printer belt and the small plastic wheel where it rolls.

Image Notes1. Need to cut this part

Image Notes1. For the shoulder

Image Notes1. Plastic parts are made from straights parts like this one

Image Notes1. Need this


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Image Notes1. From the previous wheels

Image Notes1. For the shoulder

Image Notes1. For the elbow

Image Notes1. From the cartridge holder

Image Notes1. Metal gear


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step 3:Small metal partsFor making this parts I have recycled the metal core of a transformer.Cut the templates and draw it above the metal. Cut and drill the metal.Don't forget to paint it for avoiding the corrosion.


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Image Notes1. Be carefull while drilling the holes


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step 4:Big metal partsLike the step before I use the templates for cutting the metal but this time the metal have to be stronger. The metal of the chassis of the printer will be great for this.There is only one piece that is welded. Since I have no soldering tools I send it to a workshop. It is just a small welding so they did it for free.Remember that you have to paint all this parts too.

Image Notes1. 8 cm tall2. 4 cm in the middle


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Image Notes1. Keep this


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step 6:Making the wooden baseNail two of the small wood on one side of the base.Then measure the length of the guide and nail the other two.Polishing the ends of the guides and screw them in the small wood. You can use the screws of the printer.Ensure that the distance between the guides is slightly larger than the size of the base of the robot.


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Image Notes1. Screws recycled from the printer

Image Notes1. Remove this


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Image Notes1. Only the front will de ziped, it just for testing

step 7:Assembling the handTake two of the plastic parts labeled P1 and glue one in the bottom and one in the top of one of the big plastic gears. Be sure that you are gluing in the center of the gRepeat it with the other gear. The small one is glued in the servo.Then take other two P1 and screw them to this.

Put this parts together and measure the distance between the center of the gears. Now you know where you have to drill in the P4 and P5 parts and join them using asmall plastic spacer.Now drill the holes for your servo and finish the assembly of your gripper.


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Image Notes1. This holes are not in the template, they must be done according to yours gears2. This holes are not in the template, they must be done according to yours gears3. This holes are not in the template, they must be done according to your servo4. This holes are not in the template, they must be done according to your servo


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step 8:Assembling the elbowStart screwing together the M1 and M5 metal parts and then the small stepper motor from the printer.Use the two M3 parts to attach the black plastic gear that come with the stepper motor with the M2 part.Pass a shaft through the black gear and the holes of the M1 and screw it to the aluminum in order to finish this section.


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step 9:Assembling the shoulderStart putting together the plastic tubes with the welded part and srew it in one side of the wood. Then insert the metal gear inside of the plastic tubes and fix it with ascrew in the end.Now you have to measure how tall is it and make two custom metal parts in order to attach the big stepper motor to the metal gear.Put the P3 parts in the back of the wood.Attach your counterweight to the end of your aluminium and screw it to the shaft of the metal gear using the P2 parts from the top and a metal rod from the bottom.


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Image Notes1. Back side


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step 10:Final assemblyInstall the motor and the wheel of the belt. The motor should be at the beginning of the horizontal guides and the wheel should keep the belt straight.Put the back of the arm in the guide of the back and secure the front to the cooper tubes using two plastics zips.Using a small piece of metal attach the belt to the arm.


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step 11:Electronic boardsMaterials2 pic16f628a3 uln20031 78051 bridghe rectifier3 10k resistors2 4k7 resistors2 1k resistors1 led1 nes gamepad connector2 100nf capacitor1 100uf capacitor1 12 volt 2 ampere power suply

I made the boards using the ironing method, the small one could be done from a regular bread board. The small board works as a stepper motor driver and is connectto the main board.


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step 12:ProgrammingFor programing the PICs I used a JDM programmer and the WinPic 800 software. The hex file called Main is for the pic in the main board and the one called Aux is fothe small board.

step 13:

Running

This robot is really easy for control, and probably is not the first time you use a NES gamepad.We use A and B buttons for opening and closing the hand. Left and Right button for horizontal movement.For the vertical movement we have two motors but one up button and one down button, so I decided to use the select button to switch between them.Take a look at the videos if you have any doubt.

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Comments

15 comments Add Comment

srsantafesays: Feb 13, 2011. 9:14 AM REPrealy cool, nice toy , thanks for your instructable

zombydudesays: Feb 10, 2011. 10:47 PM REPI noticed your NES controller has two extra buttons. What are they used for?

Great instructable, by the way. I hope to be able to follow it one day when I get a bit more free time.

Kirbsome!says: Feb 13, 2011. 8:17 AM REPMy guess is that it's a third party controller, and that those are turbo buttons.

(see picture 5, step 1)

rvalottasays: Feb 13, 2011. 7:27 AM REPMaybe I'm missing something but the main.hex seems to be missing. Could you also make available the source code the hex file was generated from.

robot797says: Feb 13, 2011. 6:09 AM REPcan i pay you to buy one from you

randofosays: Feb 11, 2011. 11:03 AM REPI'm really digging this project. You have some great re-use going on here.

redback7says: Feb 11, 2011. 4:23 AM REPThis takes Jenga to a whole different level.

TOCOsays: Feb 10, 2011. 5:04 PM REPHey, great instructable! Do you know if this can pick up the weight of a d-cell battery? I am on the science olympiad team at school. I think that your designwould work great if it can lift the weight. I think that it is a shame that most people just use vex kits that cost hundreds of dollars. I think that the true spirit othe robot ramble event is supposed to be robots like this. I have a few dead printers and dont have anything do do with them. I will probably make this evenwe dont use it for science olympiad.

brunoipsays: Feb 10, 2011. 5:51 PM REPThe gripper is stronger if you keep the close button pressed, also you can add sugru or something like that to the "fingers" and you will able to pick up tbattery.Regards, Bruno.

computergeek321says: Feb 10, 2011. 3:07 PM REPdo you have to use this printer or will another one will work

brunoipsays: Feb 10, 2011. 3:52 PM REPYou can use any printer but some templates wont work with diferents motors. Be sure the you are using unipolars motors and the electronics boards wwork. Regards, Bruno.

computergeek321says: Feb 10, 2011. 4:56 PM REPthank you

maezcasays: Feb 10, 2011. 3:39 PM REPjaja yo te vi en taringa :P yo hago robotica en mi escuela y varias veces vamos a competir quisas realize esto y lo adapte para que ande con arduino y nousar el joystick (con programacion y sensores ajaj )

brunoipsays: Feb 10, 2011. 3:50 PM REPBuenisimo, poste fotos si haces algo. Saludos
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The Ideanatorsays: Feb 10, 2011. 12:47 PM REPAnd my mom said video games would rot your brain, boy was she ever wrong.
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Robotic Arm Controlled by NES Gamepad