[Robotics] Origamibot / Tessellation Prefolder

[Andy Mills]

Hello Gentlemen,

I tried to send a message recently, but I think it wouldn't handle the blend
attachment, so I don't think it went through at all. And I may have sent an
email some time ago, but I think I only got around to a draft.

So in summary, I'm trying to build a robot to aid in the creation of origami
tessellations.
http://www.spundreams.net/~andy/origami/tessellations.html

 It could be thought of more like a printer in a way (a folder). Paper will
be fed into it and it will do one section at a time, from top to bottom. I'm
breaking away from typical robotic "standards" (humanoid/autonomous
mobility) and have modeled the machine more off of a CNC router machine.
Actually, two stacked on top of each other.

My primary goal is to keep this project free of cost to me and so I have
decided on leveraging Linux solutions (my main other alternative was a QNX
robotic platform). For simulation, I discovered Blender and I decided to go
with it. Finding you guys further inspired my decision and I'm glad to see
the ongoing discussions. I singed up for this list back in November, maybe.
But, I have tried to do what I can without asking any questions and now I
have a few.

I'm not sure if you guys will be able to help me, but based on some recent
emails, I think you can get me going in the right direction, at least. I
think most of my problem now is just understand [the capabilities of]
Blender...

One of my main problems was "finite simulation" particularly regarding the
drive system, which should use a threaded rod and a bolt to drive the arms
back and forth. To model this accurately appears to add a lot of overhead to
the system and the game runs awfully slow. I worked around this by just
ignoring the threading (and the rods, although they appear), moving the arms
at a fixed relative position (I suppose when I start writing scripts, I can
at least simulate acceleration to the drive's top or set speed). This may
not be that important, but I did want to try to simulate gearing as well,
which I'm not able to really, I'm just using x/y positionings. But, based on
the simulations used by other classmates, these may be insignificant.

I will eventually be looking at some sensors, because I'm going to have to
ensure that the paper is aligned properly. I may use one or combination of
ensuring the edges of the paper are properly aligned or ensuring the fold
being currently made (the head doing the folding) is appropriately aligned
to existing folds. I think I could use infrared sensors for the edge
alignment solution. I'm not sure what I would use one the folding head,
because it would need to be able to "see" the folds and I'm leaning a little
toward (ultra) sonar to map the paper's current state. (I'm going to need a
fairly low.

I'm thinking about punching holes in the edges of the paper to give it a
measure of where it's currently at...

That just about sums it up. I have more details, particularly detailing the
problems I'm seeing with simulating the paper (and particularly the folds)
and collision detection, which I would like your input on in particular. I'm
now thinking I should put it on sourceforge, but it's not exactly an "open"
project... I am trying to create a propriety way of doing things and to
create a niche market.

http://origamibot.741.com/

Many thanks on any input.

~Andy
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