Lucy's hand

UPDATE - 8. sept. 2010 - first h-bridge and controller board done.---

This is part of my biggest robot project ... It has enough degrees of freedom (5+gripper), enough speed and strength. Made out of electric window motors (ultracheap, 12V, fast enough, geared and powerful), aluminium and servos for wrist. So far I have built the mechanics and built H-bridge.

Because it has no electronics it moves only when I connect it to battery. And it moves fast, and silent like a ninja, and, apparently strong enough to hurt me when bumping in my head. 

The Idea:

Ulitmate goal is - big and awsome robot hand, controlled by atmega, what is connected to PC. On top of this hand there is a camera and laser for computer vision. And all of this is powered from PCs power supply or car battery.

H-Bridge board:

Hbridge board has attiny13 for control, serial input, adc input for potentiometer (do know on what angle the joints are), programming header, TLE5206 5A H-bridges, red led connected to error_flag pin (should show when there is short circuit), and couple of capacitors. 5206's datasheet said that it has protection diodes and other stuff like that so I believed it..

ToDo:

• Order Attinys
• Make hbridge boards (One done)
• Test hbridges with car battery. (One tested)
• Program hbridge board..
• Make gripper
• Test some more
• Make Atmega controller board. (Design is done, first prototype is done)
• Test even more
• Make and use USB-to-TTL module (Built but not programmed jet.)
• And even more testing
• Acquire a webcam and laser pointer
• Program like a weasel
• Test
• Hook everything up with my extra pc
• Install OS to PC
•  
• Profit...

Materjals and cost:

• 2x servo from ebay - $10
• 3x electric window motors from scrapjard - $15
• bunch of aluminum from scrapjard - $1
• piece of wood - nothing
• endless amount of bolts and nuts - $5

• 3x TLE5206 5A H-bridges - $13.50
• Old PC from whereever - free
• 10x Attiny13 - $10