Kinect Sensor Mount
Marc Killpack (http://www.prism.gatech.edu/~mkillpack3), Advisor: Prof. Charlie Kemp
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:
- pr2_top, pr2_base, cody_top_side_mount, cody_base_side_mount, cody_top_under_mount, cody_base_under_mount, playpen_base
Steps to Disassemble Kinect Base and Attach New Mount
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).
The top_piece can now be slid into place over the stem.
Attach the shaft piece using the small philips screwdriver with the screw that held the original gear in place.
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.