POEMPEL Task Suite
Abstract
POEMPEL task suite is a modular, 3D printed task suite for force aware robot manipulation experiments.
Part List
The entire Benchmark has been designed with Onshape and is publicly available here. The following section contains a detailed part list with 3D files, drawings and material information.Base
| Part | Quantity | Describtion/Note | STL/Drawing | Material |
|---|---|---|---|---|
| Foundation Plate | 1 | plate for mounting the 3D-printed base plate (any even plate (e.g. wooden board) can be used) |
Drawing | wood |
| Alignment Module | 1 | 3D-printed part to align the Foundation Plate with the base of a Franka Emika Robot | STL | Extrudr PLA NX2 MATT white |
| Base Plate Bottom | 4 | STL | Extrudr PLA NX2 MATT white | |
| Base Plate Top 1 | 1 | STL | Extrudr PLA NX2 MATT white | |
| Base Plate Top 2 | 1 | STL | Extrudr PLA NX2 MATT white | |
| Base Plate Top 3 | 1 | STL | Extrudr PLA NX2 MATT white | |
| Base Plate Top 4 | 1 | STL | Extrudr PLA NX2 MATT white | |
| Base Connector | 9 | height has to be adjusted depending on the offset between the foundation plate and the base of the robot.
The goal is to have a 10mm parallel offset.
|
STL | Extrudr PLA NX2 MATT white |
| M4 hex nut | 400 | |||
| M6 hex nut | 9 | |||
| M6x30 countersunk screw | 9 | length might differ depending on the Base Connector height |
Task Assembly
| Part | Quantity | Describtion/Note | STL/Drawing | Material |
|---|---|---|---|---|
| Slider Module | 1 | STL | Extrudr PLA NX2 MATT white | |
| Lower Orientation Module | 1 | STL | Extrudr PLA NX2 MATT white | |
| Upper Orientation Module | 1 | STL | Extrudr PLA NX2 MATT white | |
| Slot Rod | 1 | STL | Extrudr PLA NX2 MATT white | |
| Slot Rod End Cap | 1 | keeps the hex nut inside the Slot Rod | STL | Extrudr PLA NX2 MATT white |
| M6 hex nut | 3 | |||
| M6x16 hex socket head screw | 3 | |||
| M4x12 hex socket head screw | 4 | connect Task Assembly to Base |
Robot Attachment
| Part | Quantity | Describtion/Note | STL/Drawing | Material |
|---|---|---|---|---|
| Franka Emika Connection Plate | 1 | STL | Extrudr PLA NX2 MATT white | |
| Franka Side Orientation Module | 1 | STL | Extrudr PLA NX2 MATT white | |
| POEMPEL Orientation Module | 1 | STL | Extrudr PLA NX2 MATT white | |
| POEMPEL | 1 | 6 Variants |
Variant 1: STL Variant 2: STL Variant 3: STL Variant 4: STL Variant 5: STL Variant 6: STL |
Variant 1-5: Extrudr FLEX MEDIUM red Variant 6: polymaker PolyFlex™ TPU95 Orange |
| M6 hex nut | 3 | |||
| M6x25 hex socket head screw | 1 | connects POEMPEL to POEMPEL Orientation Module | ||
| M6x16 hex socket head screw | 2 | connect Orientation Modules and to Franka Emika Connection Plate | ||
| M6x12 | 4 | connects to Franka (likely already included with your robot) |
3D Printing Instructions
All 3D-printed parts where printed on a Bambu Lab P1S with 35% 3D-hexagonal infill.BibTeX
@misc{lödige2024useforcebot,
title={Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning},
author={Paul Werner Lödige and Maximilian Xiling Li and Rudolf Lioutikov},
year={2024},
eprint={2409.11144},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2409.11144},
}