Difference between revisions of "Kinect Sensor Mount"

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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 [[Media:shaft_gen.sldprt|shaft]] piece using the small philips screwdriver with the screw that held the original gear in place.
 
File:Kinect mount14.jpg|Attach the [[Media:shaft_gen.sldprt|shaft]] piece using the small philips screwdriver with the screw that held the original gear in place.
File:Kinect supports.jpg|Attach a layer of double sided tape (any padding around 2-3 mm will do) to the supports leaving the paper on the side that is towards the kinect.  This allows us to slide the supports into place and get a firm fit before attaching them to the top piece using M3 X 10 screws from the inside of the top.
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File:Kinect supports.jpg|Attach a layer of double sided tape (any padding around 2-3 mm will do) to the [[Media:Support_gen.sldprt|supports]] leaving the paper on the side that is towards the Kinect.  This allows us to slide the [[Media:Support_gen.sldprt|supports]] into place and get a firm fit before attaching them to the [[Media:Top_gen.sldprt|top]] piece using M3 X 10 screws from the inside of the top.
 
File:Kinect mount15.jpg|Assemble the top and bottom of the plastic mount.  Make sure to get the Kinect cable inside properly to relieve strain.  Then attach M4 screws to keep the case shut and the shaft and crank in place.
 
File:Kinect mount15.jpg|Assemble the top and bottom of the plastic mount.  Make sure to get the Kinect cable inside properly to relieve strain.  Then attach M4 screws to keep the case shut and the shaft and crank in place.
 
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== 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 ==
 
== Examples of Kinect Mounts at HRL ==

Revision as of 19:11, 1 March 2011

Author

Marc Killpack (http://www.prism.gatech.edu/~mkillpack3, mkillpack3_at_gatech.edu), Advisor: Prof. Charlie Kemp

Use

After some basic steps to disassemble the base of the Kinect, we can use the mount described here 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 sections list the necessary parts and explain the basic assembly of the mount from start to finish.

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:

Steps to Disassemble Kinect Base and Attach New Mount

Examples of Kinect Mounts at HRL

Cody kinect2.jpg Cody kinect1.jpg

Kinect mounted on our mobile manipulator Cody and a side view of the mount on a Robotis servo.

Playpen kinect2.jpg Playpen kinect1.jpg

Two views of the Kinect mount for our robot playpen for autonomous manipulation data capture.

Pr2 kinect.jpg

Kinect mounted to the PR2 head.