Project Ock - An Open-Source Doc Ock Tentacle Robot
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发布时间:2024-10-31 08:51:22
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Project Ock
Started in August 2024, Project Ock is an open-source project that aims to create a fully functional Doc Ock suit from mostly 3D printed parts.
Part 1: The Tentacle
In order to accomplish a variety of tasks, the tentacle must be flexible. We made the tentacle from multiple platforms, each with 3 degrees of freedom. These platforms are a variation of the 3RPS parallel manipulator. By stacking platforms, one can obtain progressively more degrees of freedom. Currently, up to 3 modules have been tested (9DOF)
Part 2: The Hand Controller
In order to control a high-DOF manipulator, one must have a many-axis controller. We developed a hand controller that allows one to control 7 axes with one hand using flex sensors and an IMU.
Part 3: The End Effector
In order to establish one's dominance, a powerful and versatile end effector is needed. The end effector has 2 degrees of freedom, allowing it to reproduce most of the functionality shown in the movies.
Printing
All parts of this were printed on a Bambu Lab X1C or P1S. Any printer will work as long as it is tuned fairly well.
Print Settings:
1.6mm Walls (translates to 4 wall loops if using a .4mm nozzle)
4 Tops/Bottoms
30% Gyroid Infill
Supports are only needed on the base and lower arm
Files
All printed parts have an stl file. Also included are .step and Fusion360 files for an individual module and a full tentacle. WARNING: If your computer is slow, the full tentacle assembly could crash it.
Code, Electronics, Etc.
Code: https://github.com/organmaestro22/Project-Ock
Parts list: https://docs.google.com/document/d/1PmleHNXuRMaimFPMSILJnT639Erwa5ifSAkOoUihMAg/edit?usp=sharing
YouTube:
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