The Harma project first came about when I was talking to my friend and coworker Ben. We are both tinkerers and He used to work as a rework technician, so is quite good at fine pitch soldering. I however, have very shaky hands, so I shy away from anything smaller than an 0805 passive component.
That got me thinking, there are robotic assistants for surgeries, so why not for an over caffeinated tinkerer like myself?
Thus, this project was born. It consists of two major parts:
Harma comes from the word Härma, which means Mimic in Swedish. A fitting name since the goal of this project is for you to control a robot that mimics your movements in a more precise and filtered way.
As stated above, this project consists of two major parts: The thing the user holds to control the robot and the robotic arms itself.
Pensel, or brush/pencil in Swedish, is the device the user interfaces with to control the robotic arms. It is this sub-component that I will first tackle to make the whole system. The design as it stands is as follows:
There will be one unified design to control the iron, solder, and/or wire/components. As such, there must be a generic control methodology built into the Pensel. The Pensel will have:
Further Pensel documentation can be found here.
This section has not been thought through yet. I am currently only focusing on the Pensel sub-component.