Yeobot Release Demo: Testing Movement of AR3 Arm Joints 1 through 6


  • Budgeted all of Yeobot expenses in Excel
    • Separate tab of expenses for AR3 arm, workspace tools, and software & services
  • Completed AR3 arm build
    • Designed a custom platform for the AR3 robot arm to attach to the 7th axis travel track.
    • Calibrated 3D printer to print dimensionally accurate AR3 components. Inner dimensions of certain components had to be enlarged in Solid Works. All Solid work files and Simplify 3D configuration files were source controlled in Bitbucket.
    • Completed AR3 electrical enclosure.
    • Completed AR3 motor cables.
    • Completed AR3 robot arm assembly.
  • Created docker images and simple example applications to test dependencies
    • yeo-detection image
      • yeo-detection python application using ROS 2 & Zed 2i wrapper.
      • Detect objects using yolo version 4 with the Zed 2i camera.
    • yeo-move image
      • yeo-move python application using ROS 2 & Moveit 2.
      • Simulated path planning and execution of the AR3 arm with ROS 2 Gazebo.
    • yeo-execution image
      • yeo-execution python application using ROS 2.
    • yeo-display image
      • yeo-display application using the ROS 2 RQt tool.
  • Kubernetes orchestration
    • Scripts & instructions for deploying docker containers to a fully featured Kubernetes environment.
  • Setup Bitbucket with Jenkins integration for a continuous build pipeline, Confluence with embedded support, RubyGems for publishing artifacts, Microsoft Teams for future collaboration
  • Created Confluence documentation and scripts for setting up a new developer environment on Ubuntu


3D printer of J1 base
Problems & solutions:
  • Discovered my 3D printer was printing accurate dimension in all axis’s besides for inner circle dimensions. There was no obvious calibration or config setting in Simplify 3D to solve this problem. To solve this problem the inner circle dimensions of certain components were enlarged to match component specifications.
  • Discovered a short inside the joint 1 limit switch because the positive and negative 5 volt terminals were touching. The base plate and J1 housing was design so that the J1. limit switch had minimal clearance for its bottom terminals. The solution was to solder the wires directly to the limit switch terminals to reduce the clearance needed for the bottom wires.
  • Discovered the 5 volt power supply for the relay switches was not providing 5 volts. The solution was to install a new 5 volt power supply. 
  • Discovered that the joint 3 aluminum tube diameter was larger than the diameter of the bearings. Sanding down the tube until it moved freely through the bearings solved the issue.
Joint 1 Limit Switch terminals touch internally
Looking ahead:
  • Attaching the depth camera to a fixed point on the robot arm
  • Create interchangeable tool head mount, base, and tips
  • Creating webapp that displays all the sensor data and takes in user input to command and control the robot