Dak_CDak Chun Cheng
Created March 2, 2024

Robot Chef

Imagine a day where you can get up one morning, prepare breakfast for now and lunch for later, while brushing your teeth.

AdvancedWork in progressOver 16 days88

Things used in this project

Hardware components

Kria™ KR260 Robotics Starter Kit
AMD Kria™ KR260 Robotics Starter Kit
Let's use the power of FPGAs to accelerate computer vision!
×1
Commercial MLC microSD
Delkin Commercial MLC microSD
Anything bigger than 16GB will work. I used a 128GB card to run the Kria. This gives me far more breathing room, the 16GB card provided with the Kria was over 80% full by the time I installed Ubuntu.
×1
Teensy 4.0 Development Board
Teensy 4.0 Development Board
Our dedicated robot arm controller.
×1
Adafruit Metal Gear Servo
×1
Rotary potentiometer (generic)
Rotary potentiometer (generic)
These are represented in the CAD model
×4
USB-A to Micro-USB Cable
USB-A to Micro-USB Cable
×1
Webcam, Logitech® HD Pro
Webcam, Logitech® HD Pro
×1
Homedics Shiatsu Massage Cushion SBM-115HJ
A good source of motors and gears. I'm using these gears and motors for arm articulation.
×1
H bridge
×5
Bodine 24A4BEPM-3RD Worm Drive Motor
A high-torque turntable motor I had on hand.
×1
Cheap Drill Motors
Good source for high power motors + gearboxes, I use these for wrist manipulation.
×2
Bike Gear Shift Cable
Used to control wrist from a distance
×4
Induction Stove
Any one will work, make sure there are physical buttons
×1
12v 60A power supply
We need a beefy 12V supply to power the motors. I'm using an old ATX power supply I have laying around, but in hindsight, I would order this instead.
×1
Small Boost converter
Bodine motor at 12v is too slow, 25v is acceptable
×1
6mm steel rod
You can get a 500mm piece and cut it to size. The shoulder and elbow joints will spin around one of these shafts.
×1

Software apps and online services

Vitis Unified Software Platform
AMD Vitis Unified Software Platform
PYNQ Framework
AMD PYNQ Framework
Arduino IDE
Arduino IDE
balenaEtcher
balenaEtcher
VMware
VS Code
Microsoft VS Code
Ultimaker Cura
Google Colab
Roboflow

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Drill / Driver, 20V
Drill / Driver, 20V
Soldering iron (generic)
Soldering iron (generic)
Laser cutter (generic)
Laser cutter (generic)

Story

Read more

Schematics

Full Schematic

PDF of schematic (also included in Github, but for good reference)

Code

Parts, Schematics, and Code

All of it is in the Github!

Credits

Dak_C

Dak_C

1 project • 0 followers
I am a student, mostly self-taught, now in University studying Electrical and Computer Engineering.
Dak Chun Cheng

Dak Chun Cheng

1 project • 0 followers

Comments