Difference between revisions of "Kinect Sensor Mount"

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== Use ==
 
== Use ==
After some basic steps to disassemble the base of the Kinect, this mount allows you to attach the Kinect sensor to a robot or other fixture (see examples below from HRL).  If the intended purpose is for static use, there is a shaft that allows you to orient the Kinect plus or minus 30 degrees.  If the purpose is to attach the Kinect to a moving part/robot, then we recommend the use of the supports as seen below in the instructions.
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After some basic steps to disassemble the base of the Kinect, this mount allows you to attach the Kinect sensor to a robot or other fixture (see examples below from HRL).  If the intended purpose is for static use, there is a shaft that allows you to orient the Kinect plus or minus 30 degrees.  If the purpose is to attach the Kinect to a moving part/robot, then we recommend the use of the supports as seen below in the instructions.  We developed this as an alternative to having to open up the actual sensor casing and use its screw holes.
  
 
== Making the Kinect Mount ==
 
== Making the Kinect Mount ==
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== Steps to Disassemble Kinect Base and Attach New Mount ==
 
== Steps to Disassemble Kinect Base and Attach New Mount ==
 
<gallery caption="Steps for Mounting Kinect" widths="400px" perrow="3">
 
<gallery caption="Steps for Mounting Kinect" widths="400px" perrow="3">
File:Kinect mount16.jpg|Necessary tools for the job: size T0 bit, small philips and flat screwdriver, larger screwdriver for the T0 bit, heavy duty shears, needle nose pliers
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File:Kinect mount16.jpg|Necessary tools for the job: size T0 bit, small philips and flat screwdriver, larger screwdriver for the T0 bit, heavy duty shears, needle nose pliers.  You may also want a size M4 and M3 tap for threading the plastic mount.
File:Kinect mount1.jpg|First remove the sticky pad underneath the Kinect base
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File:Kinect mount1.jpg|Holder place for how to thread the top and bottom of 3D printed mount (After printing the mount, it is helpful to assemble the top and bottom pieces and thread them with an M4 size tap.  If you are using the supports for a more rigid mount, make sure to thread the holes in the top plate and the supports at the same time with an M3 tap).
File:Kinect mount2.jpg|Remove 4 screws using a T0 bit in the big screwdriver
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File:Kinect mount1.jpg|Remove the sticky pad underneath the Kinect base.
File:Kinect mount3.jpg|Using small philips screwdriver remove 4 more screws
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File:Kinect mount2.jpg|Remove 4 screws using a T0 bit in the big screwdriver.
File:Kinect mount4.jpg|Carefully turning over the bottom metal plate shows the motor for the base, disconnect this
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File:Kinect mount3.jpg|Using small philips screwdriver remove 4 more screws.
File:Kinect mount5.jpg|Cut a V shape hole through the plate closest to the sensor head with the heavy duty shears.  Be very careful of the cameras at this point since this is probably the most likely spot to damage the Kinect.
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File:Kinect mount4.jpg|Carefully turning over the bottom metal plate shows the motor for the base, disconnect this.
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File:Kinect mount5.jpg|Cut a V shape hole through the plate closest to the sensor head with the heavy duty shears.  Be very careful of the cameras at this point since this is the most likely spot to damage the Kinect.
 
File:Kinect mount6.jpg|Shows the completed V shape cutout
 
File:Kinect mount6.jpg|Shows the completed V shape cutout
 
File:Kinect mount7.jpg|This should allow you to turn the top plate 90 degrees and slide it out now
 
File:Kinect mount7.jpg|This should allow you to turn the top plate 90 degrees and slide it out now
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File:Kinect mount10.jpg|Bend the encasing back and forth with the needle nose pliers to fatigue it.  Doing this at both sides causes the encasing to fracture at the two screw heads.
 
File:Kinect mount10.jpg|Bend the encasing back and forth with the needle nose pliers to fatigue it.  Doing this at both sides causes the encasing to fracture at the two screw heads.
 
File:Kinect mount11.jpg|You should now be able to remove the collar piece with only the stem and Kinect sensor remaining.  It is probably wise to use some electrical tape on the two power cables coming down from the stem.  You should also remove the final gear from the stem and keep the screw that held it in place.
 
File:Kinect mount11.jpg|You should now be able to remove the collar piece with only the stem and Kinect sensor remaining.  It is probably wise to use some electrical tape on the two power cables coming down from the stem.  You should also remove the final gear from the stem and keep the screw that held it in place.
File:Kinect mount12.jpg|The top piece ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]) can now be slid into place over the stem.
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File:Kinect mount12.jpg|The [[Media:top_gen.sldprt|top_piece]] can now be slid into place over the stem.
 
File:Kinect mount13.jpg|Now turn the top 90 degrees, making sure the slot is facing towards the back of the sensor.
 
File:Kinect mount13.jpg|Now turn the top 90 degrees, making sure the slot is facing towards the back of the sensor.
File:Kinect mount14.jpg|Attach the shaft piece now (([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]) and use the small philips screwdriver with the original screw that held the  
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File:Kinect mount14.jpg|Attach the [[Media:shaft_gen.sldprt|shaft]] piece now and use the small philips screwdriver with the original screw that held the  
File:Kinect mount15.jpg|
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File:Kinect mount15.jpg|You can now assemble the top and bottom of the plastic mount.  Make sure to get the Kinect cable inside properly to relieve strain.  You can now attach M4 screws to keep the case shut and the shaft in place.
 
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File:Kinect mount15.jpg|holder place for other images from solid works
 
</gallery>
 
</gallery>
  
After printing the mount, it is helpful to assemble the top and bottom pieces and thread them with an M4 size bit.  If you are using the supports for a more rigid mount, make sure to thread the holes in the top plate and the supports at the same time.
 
  
 
== Solid Works Files ==
 
== Solid Works Files ==
 
The main solid works files necessary for the mount are as follows:
 
The main solid works files necessary for the mount are as follows:
*[[Media:Top_gen.sldprt|top_piece]], [[Media:Bottom_gen.sldprt|bottom_piece]], [[Media:Crank_gen|crank]], [[Media:Shaft_gen|shaft]], [[Media:Support_gen|support]]
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*[[Media:Top_gen.sldprt|top_piece]], [[Media:Bottom_gen.sldprt|base_piece]], [[Media:Crank_gen|crank]], [[Media:Shaft_gen|shaft]], [[Media:Support_gen|support]]
 
The following files are examples of how we have modified the original to work for our robots:
 
The following files are examples of how we have modified the original to work for our robots:
 
*[[Media:Top_pr2.sldprt|pr2_top]], [[Media:Bottom_pr2.sldprt|pr2_base]], [[Media:Top_cody.sldprt|cody_top_side_mount]], [[Media:Bottom_cody.sldprt|cody_base_side_mount]], [[Media:Top_cody2.sldprt|cody_top_under_mount]], [[Media:Bottom_cody2.sldprt|cody_base_under_mount]], [[Media:Bottom_playpen.sldprt|playpen_base]]
 
*[[Media:Top_pr2.sldprt|pr2_top]], [[Media:Bottom_pr2.sldprt|pr2_base]], [[Media:Top_cody.sldprt|cody_top_side_mount]], [[Media:Bottom_cody.sldprt|cody_base_side_mount]], [[Media:Top_cody2.sldprt|cody_top_under_mount]], [[Media:Bottom_cody2.sldprt|cody_base_under_mount]], [[Media:Bottom_playpen.sldprt|playpen_base]]

Revision as of 04:00, 1 March 2011

Author

Marc Killpack, Advisor: Prof. Charlie Kemp

Use

After some basic steps to disassemble the base of the Kinect, this mount allows you to attach the Kinect sensor to a robot or other fixture (see examples below from HRL). If the intended purpose is for static use, there is a shaft that allows you to orient the Kinect plus or minus 30 degrees. If the purpose is to attach the Kinect to a moving part/robot, then we recommend the use of the supports as seen below in the instructions. We developed this as an alternative to having to open up the actual sensor casing and use its screw holes.

Making the Kinect Mount

We used a 3D printer to make our mount out of ABS plastic. The same parts could be machined out of metal if desired but would likely require some modifications to the tolerances and the thicknesses of some parts. The following explains the basic assembly of the mount from start to finish (see list of Solid Works files available for download following the assembly instructions below).


Steps to Disassemble Kinect Base and Attach New Mount


Solid Works Files

The main solid works files necessary for the mount are as follows:

The following files are examples of how we have modified the original to work for our robots:


Power

We didn't want to cause problems with the USB cable, so we cut the power cord below the split to USB and the Kinect connector. Being careful to verify polarity, we hooked the Kinect up to a 12V power supply that is loosely regulated and we have had no issues so far.

Examples of Kinect Mounts at HRL