Kinect Sensor Mount
Marc Killpack (http://www.prism.gatech.edu/~mkillpack3, mkillpack3_at_gatech.edu), 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
The top_piece can now be slid into place over the stem.
Attach the shaft piece using the small phillips screwdriver with the screw that held the original gear in place.
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.
Examples of Kinect Mounts at HRL
Kinect mounted on our mobile manipulator Cody and a side view of the mount on a Robotis servo.
Two views of the Kinect mount for our robot playpen for autonomous manipulation data capture.
Kinect mounted to the PR2 head.