YANBO: Yet Another Nameless Bot

All my project ideas needed CNC motion, which was due, at least in my shop, for a standardized approach which will hopefully classify the extruder, laser diode, and (eventually) laser scanner and vision system as forks of this foundation project. ServoCity stands out in my mind for the unified system of drives, mounts, adapters, and so on. YANBO uses 4 of their standard mounting plate C, 4 standard lightweight hubs, a 1.5" channel, and a bag of cap screws, plus some odds and ends from the local hardware store. Next motion base I'll just budget for a servoblock for each servo. That way the right angles and bearings come in the same box, rated for cantilever loads. The Arduino is YANBO's initial controller because it's so simple to test servos with. Got the BeagleBoneBlack reflashed with Debian, now just need to take LinuxCNC/Machinekit to the finishline. This will bring the Hardware Abstraction Layer, inverse kinematics, and lots of other 32 bit goodies. The protractor form is from my radar days- http://www.weathergraphics.com/reference/ . Fascinating site in its own right.

A few days later, having replaced the PC power supply with the 6 and 12v batteries on hand, moving YANBO to a bigger baseboard, and adding an upper tray for all that support gear, the umbilical wiring had an elegant solution- upstairs. Glad I used 180 degree servos!

I'd been thinking of a quick-change tool mount, but wiring both heater/nozzles, even with only 1 thermocouple, was making that and my servos' ability to move it accurately and reliably increasingly dubious. But I'd devoured Byerly's CCSR buildlog and vids during this time. After all, my BBB is a yocto-compliant Angstrom (now Debian) board.

And I've got 6 of Pololu's micro gearmotors just begging to power a small fleet of Pololu mini sumobots. 1 for each of my microcontrollers. The OWI arm will soon become mobile, YANBO will fork into a pair of arms, each on treads. One will be optimized for laser, one for the extruder. Will add more pix tomorrow.