#! /usr/bin/php ReachBot | Biomimetics and Dextrous Manipulation Lab
Biomimetics and Dextrous Manipulation Lab

ReachBot

MobileManip

ReachBot is a new project with Stanford's ASL and with NASA.

People:

PI: Marco Pavone, Aero & AstroPhD students: Stephanie Scheider, Andrew Bylard
Co-I: Mark Cutkosky, MEPhd students: Tony Chen, Crystal Winston
Co-I: Mathieu Lapôtre, Geological Sciences 

17 May 2021: The tape measure we are using is driven by a DC motor with the following characteristics (when driving the tape). The "Starting Current" column refers to the current drawn by the motor when the tape starts retracted and the motor is then driven. As the tape rolls out, the current drawn by the motor increases until either the motor stalls (at low voltage) or the tape is fully extended.

Voltage (V)Starting Current (A)Stall Current (A)
11.22.7
21.35.2
31.67.5
42.28.5
52.68.0

This is unusual behavior for a DC motor as most motors (and motors drivers designed for those motors) operate at higher voltages and draw lower currents. Fortunately, we were able to get this working with the following motor driver shield. By connecting the M1 and M2 channels in parallel we are able to run the motor at 3V with a max continuous current of 2.4A.

4 May 2021: Short project description in the Stanford News

1 May2021: We have a concept for a scaled-down planar prototype (see figure at right)


Planar prototype concept (May 2021
Page last modified on May 21, 2021, at 12:11 PM