[discussion] design/implementation of the Arkbot

[cmower]

@HarryWarriner - let us discuss here requirements of the Arkbot.

The central goal is for you to design and build a mobile-base robot with an arm, and the arm should have a gripper on top.

There are some design requirements we would like you to keep in mind when designing the robot.

• Total cost of the robot + build should remain <= 300 GBP, and minimized where possible
• Ideally, the end-user should only need to print parts off and assemble the robot with simple tools
• As much of the parts should be 3D printable as possible
• The gripper can be 2-finger, similar to yours and mounted at the end-effector
• The robot arm should be designed so that we can mount it on either
  • the mobile base
  • a table, and
  • the go2 quadruped robot
• the scale of the arm should be slightly larger than yours (big enough so that it can be used on the go2 quadruped)
• the mobile base should be omnidirectional

The robot needs to be directly integrated with Ark. Will need to make sure that you can generate a URDF for the robot.

[cmower]

@haithamb - not sure if you wanted to add anything more to the above?

[haithamb]

I think it is all good to me.

[cmower]

I think it is all good to me.

That's great!

I will keep the discussion issue open for now, we can continue to discuss any design decisions as project progresses.

@HarryWarriner would be great to hear your thoughts on above? Let me know if you have any questions about anything. We can get you any measurements you need (eg specs for go2, so you know how large to make robot arm and how best to mount the arm).

[HarryWarriner]

Sounds all good.
I've had a quick look at go2. And a closer look at how the accessories are attached would be useful, along with the dimensions for this.

[HarryWarriner]

What should the max payload be around?
I assume it needs to be battery-powered? If so how long should the battery life be? (How big is the battery?)

[cmower]

@sarthakdas - I just spoke with Harry, there is a question on how to export robot design model to URDF, perhaps could you provide any input here?

[sarthakdas]

Fusion360 or Solidworks have plug-in to do this we can use. Just need to make the robot properly modelled in the CAD software.