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2.7 KiB
2.7 KiB
Dry Erase Holder
Created by: Hello Robot Inc
This tool allows Stretch to hold a dry-erase marker. It is spring-loaded, allowing for compliant interaction between the marker and a whiteboard.
The tool can be integrated into your robot URDF by integrating its stretch_description as described in the Stretch ROS documentation.
Parts List
| Item | Qty | Vendor |
|---|---|---|
| Expo Dry Erase | 1 | Amazon |
| M5x50mm Hex Head Bolt | 1 | McMaster-Carr |
| M5 Nut | 2 | McMaster-Carr |
| wrist_end_cap_5mm | 1 | PLA 3D Printer |
| dry_erase_bushing_block | 1 | PLA 3D Printer |
| Size 30 Rubber Band | 2 | McMaster-Carr |
| 3/4" Shaft Collar | 1 | McMaster-Carr |
Assembly instructions
- Install the bolt into the dry_erase_bushing block and secure from below with an M5 nut.
- Attach the dry-erase bushing block to the tool plate, securing from below with the wrist_end_cap_5mm and an M5 nut. Orient the block so the marker points forward.
- Attach the shaft collar to your dry-erase marker, approximately 8mm from the back of the marker.
- Slide the marker into the bushing block. Loop a rubber band around the back of the marker and over to one of the pegs on the side of the bushing block. Repeat with the other peg.
- The marker should now easily spring back when pushed against it. You're ready to write!