[GBC] The Akiyuki Project (2010 - 2020)

[Thierry-GearsManiac]

The pushing/pulling force that moves the vertical gutter horizontally back and forth was applied to one end of the gutter only : inequal forces between the top and the bottom (plus some possible friction at some of the slidings) may result in a "rotational" move of the gutter which would indrease the friction forces and lock it.

In this new design, this force gets applied to almost the center of the gutter, so it's better balanced between all slidings (think momentum / torque).

And if I ever had to build this module, I would double the crank : the original one at the bottom plus one at the top (plus a sturdy chassis for it).

(alternate solutions based on synchronizing the top and the bottom thanks to linkages --like for the space bar on a keyboard--, racks and pinions, pulleys and cables could do the trick as well, but would be too bulky)

[Sabre999uk]

Hi,

Long time reader but first post having become addicted to GBC.

I'm trying to build the lifter triggered by a stuck ball but I've hit a couple of problems:

1) I've built up to page 73 of the instructions but when I connect power only the arm furthest from the motor moves - any ideas what I've done wrong?

2) On page 73 of the instructions in stage 23 it looks like the left black pin goes in a hole that's already occupied or am I looking at it wrong?

Thanks in advance for any help.

Steve

[9v system]

2 hours ago, Sabre999uk said:

Hi,

Long time reader but first post having become addicted to GBC.

I'm trying to build the lifter triggered by a stuck ball but I've hit a couple of problems:

1) I've built up to page 73 of the instructions but when I connect power only the arm furthest from the motor moves - any ideas what I've done wrong?

2) On page 73 of the instructions in stage 23 it looks like the left black pin goes in a hole that's already occupied or am I looking at it wrong?

Thanks in advance for any help.

Steve

hello and welcome

first of all have you made sure that the cranks are all connected to the drive axle?

this video below may help

 

[Sabre999uk]

Hi,

All the cranks rotate it's just that the arms don't lift and I can't see why - even after watching this video. I can gently lift each arm and as the crank rotates I can feel it being pulled down so I know they move freely.

Which pieces interact to lift the arms - maybe I've just got something misaligned?

Thanks for your help.

Steve

[9v system]

55 minutes ago, Sabre999uk said:

Hi,

All the cranks rotate it's just that the arms don't lift and I can't see why - even after watching this video. I can gently lift each arm and as the crank rotates I can feel it being pulled down so I know they move freely.

Which pieces interact to lift the arms - maybe I've just got something misaligned?

Thanks for your help.

Steve

if everything is connected correctly, it only lifted when there is a ball present

does it lift when a ball is inserted?

[Sabre999uk]

Hi,

Not sure what I did because it's now working with balls but only 1 arm worked before, is it sensitive to weather Lego or non-Lego balls are used I wonder.

Now to work out which GBC to build next.

Thanks again for your help.

Steve

[Ankoku]

56 minutes ago, Sabre999uk said:

Hi,

Not sure what I did because it's now working with balls but only 1 arm worked before, is it sensitive to weather Lego or non-Lego balls are used I wonder.

Now to work out which GBC to build next.

Thanks again for your help.

Steve

The arms are only meant to lift when there is a ball in it.

Also, to stop it from dropping balls, it apparently works best at a slower speed. e.g. not max speed.

 

Edited October 2, 2020 by Ankoku

[Sabre999uk]

Hi,

I've been using the slowest speed it now works perfectly except the arm furthest from the motor moves weather there is a ball there or not.

Steve

[Ankoku]

That might be a friction issue.

[9v system]

9 hours ago, Sabre999uk said:

Hi,

I've been using the slowest speed it now works perfectly except the arm furthest from the motor moves weather there is a ball there or not.

Steve

funny enough i had this issue a few years ago too as well on the same lifter, i could never figure it out but i replaced the 8 axle with stop, that axle can be slightly bent which can cause this problems

[Ankoku]

4 hours ago, 9v system said:

funny enough i had this issue a few years ago too as well on the same lifter, i could never figure it out but i replaced the 8 axle with stop, that axle can be slightly bent which can cause this problems

An axle you can't use the tester on :P

[9v system]

27 minutes ago, Ankoku said:

An axle you can't use the tester on :P

anyway, did you see the new zig zag design i did? i only build from new parts so i have ordered the parts and will test it. i have been rebuilding my modules in the past year or so from only new parts

[Ankoku]

I did. Nice work!

I think many of his modules can benefit from the odd improvement here and there!

Zig Zag is one I am considering building!

[9v system]

47 minutes ago, Ankoku said:

I did. Nice work!

I think many of his modules can benefit from the odd improvement here and there!

Zig Zag is one I am considering building!

this might be a good one to do as well

the output part is @OneMoreRobot design, i will see if i can make a file for it

Edited October 3, 2020 by 9v system

[Sabre999uk]

Hi,

Thank you all for the help, replacing the axle 8 with stop has fixed the issue.

Thanks again

Steve

[Ankoku]

They really need to make a square 2x2 tile with a hole in the middle :P

[Filipe128]

Hello,

Wondering if anyone has fully reverse engineered Akiyuki's 6 Axis Robot Arm (https://akiyuki.jp/en/works/1728). 

Thank you!

Edited October 7, 2020 by Filipe128

[Ankoku]

@Filipe128

@waslos has built it, but thus far, there are no instructions. I believe @HRU_Bricks has done a stud.io file for a bit of it.

It has been shown that it can be built just off studying the video though.

https://www.eurobricks.com/forum/index.php?/forums/topic/117305-gbc-the-akiyuki-project-2010-2020/&do=findComment&comment=3202491

 

[Filipe128]

Thank you very much for your answer. I will try to reproduce the robot as well during the next few weeks and hopefully share the CAD file here in case anyone else is interested.

[9v system]

greetings all

heres an updated version of the pneumatic module,, it has some changes to one of the racks and the change of the 12 tooth bevel to a 16 tooth gear which is what akiyuki uses. @Ankoku could you add this to the main thread? also thanks to @jesuskyr for the pneumatic file https://bricksafe.com/files/gbcbuilder/akiyuki/pneumatic-gbc/pn_main_Copy.io

 

[Ankoku]

Message me a link to the image, instructions, IO, whatever you desire and I will get it added.

[HRU_Bricks]

6 hours ago, 9v system said:

greetings all

heres an updated version of the pneumatic module,, it has some changes to one of the racks and the change of the 12 tooth bevel to a 16 tooth gear which is what akiyuki uses. @Ankoku could you add this to the main thread? also thanks to @jesuskyr for the pneumatic file https://bricksafe.com/files/gbcbuilder/akiyuki/pneumatic-gbc/pn_main_Copy.io

 

Thanks @9v system for sharing the file. This one is on the to build list

 

[HRU_Bricks]

On 10/8/2020 at 5:27 PM, Filipe128 said:

Thank you very much for your answer. I will try to reproduce the robot as well during the next few weeks and hopefully share the CAD file here in case anyone else is interested.

@Filipe128 here is the link to the studio file I started to work on. I have since gone in a different direction and used Powered Up motors and basically made my own design with keeping the basket rotation. The robot is complete and now I am working on a more efficient program and the peripheral build. Once done it will be posted on the general GBC page. https://bricksafe.com/pages/HRU_Bricks/robot-arm-mindstorm--technic 

[Filipe128]

@HRU_Bricks Thank you for sharing your file! I have finished a preliminary version of the 6-Axis Robot that I believe is 99% true to Akiyuki's original version. 

I will most likely apply the same modifications you applied to the arm, I don't fancy the asymmetric design either.

May I ask why you changed to Powered Up motors and how did you adapt the design, (given that the EV3 Large motor output is perpendicular to it's symmetry line VS the Powered Up Large Motor output being parallel)? 

Also, can SNOT specialists figure out how the 02 numbering is built? I was interested in building not "02" but "06" actually.

Edited October 11, 2020 by Filipe128

[Ankoku]

When people are happy with the final design, let me know and I will add it to the front page of here and on the EV3 page.

The robot arm is something which is often asked about.