This is my Microphone Assembly Robot project! This repository contains the code, hardware specifications, and assembly instructions for an advanced robotic system designed to clamp a microphone and apply silicone glue around it using a ZY Cartesian robot. This innovative solution enhances efficiency and precision in the microphone assembly process, ensuring high-quality results every time. This was designed for a specific use case during mz internship, but can be ported for your application. The project follows a state machine approach.

• Hardware Setup
• Installation
• Usage
• Contributing

• Configuration ZY cartesian robot with dispenser at the end-effector. Additionally microphone gets clamped by linear actuated X axis and rotated about the same axis by another actuator.
• Controller : Esp32 NodeMCU (espressif)
• Original Firmware : Grbl_Esp32 cnc firmware : https://github.com/bdring/Grbl_Esp32
• Pre-configured : https://github.com/EvilChangIndia/GS_Grbl_Esp32
• UI : Rpi3B + 7inch Display. Footpedal
• Glue Dispenser : Loctite dispenser with pedal
• Linear axes ( x 2) : Nema 17, nema 23 + linear drives (Igus)
• Rotary Axis : Harmonic drive + Nema 17 (Igus)
• Clamping : Pneumatic actuator (Igus) + relays

1. Clone this repository into your PC:

   git clone https://github.com/EvilChangIndia/GlueBot.git
   

2. Copy (or download) the contents of Raspberry Pi folder into your Raspberry Pi's main folder.

3. Configuring the esp32: You can use the pre configured firmware: https://github.com/EvilChangIndia/GS_Grbl_Esp32

   OR

   configure one from scratch

   • I have used Grbl_Esp32 cnc firmware by bdring for the project. Follow the instruction on their repository to flash the firmware onto your Esp32.
   • Clone the firmware into your PC or download as zip:

     git clone https://github.com/bdring/Grbl_Esp32.git
     

   • IMPORTANT!!! : It is important to define our hardware and wiring configuration in the firmware before flashing it onto the Esp. This mainly involves two changes:
     • Copy the machine definition file (Esp32/Machine file/GlueBot.h) into the machine folder (Grbl_Esp32/src/Machines) of the firmware.
     • Once you have copied the file, you select it by editing the file "Grbl_Esp32/src/Machine.h" to "#include" your file
   • These steps can be understood in detail by refering to the WiKi inside the firmware repository
     • Repository : https://github.com/bdring/Grbl_Esp32

4. Complie & Flash configured firmware onto the esp32. Check the wiki from https://github.com/bdring/Grbl_Esp32/wiki/Compiling-with-PlatformIO

To run the program, follow these steps:

1. On RPi terminal, enter:

python3 GlueBot/ui/glueBot.py

2. Control Methods:

• The bot can be controlled using the graphical UI made using GTK
• The foot pedal is used to manually dispense the glue if/when needed. This by-passes the ESP 32.

Shell Setup: If you want the clampUI.py to start automatically when your Raspberry Pi boots up, you can set up a shell script:

• Create a shell script (e.g., start_clamp.sh) with the following content:

  #!/bin/bash
  python3 /path/to/your/glueBot.py
  

• Make the script executable:

  chmod +x start_clamp.sh
  

• Add the script to your crontab to run at startup:

  crontab -e#
  

• Add the following line to the end of the file:

  @reboot /path/to/your/start_clamp.sh
  

We welcome contributions! If you have ideas for improvements or new features, please fork the repository and submit a pull request. For any issues, feel free to open an issue in the GitHub tracker.

This project is licensed under the MIT License - see the LICENSE file for details.

Enjoy using your Gluing Robot!