Robot vending kiosk

Within team of Botlegger engineering of mechatronics, 3d design of grippers and sensor parts, control systems

Design arm clamp for cups

Automate standard vending cup dispensers, valves for desserts, stepper motors for product delivery

Laser sensor and sonar feedback

Communication with host

RGB Illumination

Coffee machine control over USB

Wiring

I was responsible for everything sensors and non-robotic motors.

Designed clamp in Fusion 360 and 3d printed it on own printer

Arduino MEGA and RAMPS shield with a little bit of custom pcb it was possible to connect all motors, sensors, solenoids and addressable RGBW leds. My Arduino firmware was an evolutionary step from previous (cocktail-dispensing) KUKA robot. Firmware has multiple safety levels using laser sensors and cup dispensing control with sonars. There are multiple high and low voltage power outputs for dispensers and solenoids.

IR Laser sensors were connected via individual UART and then parsed.

There are simple UART communication over usb with host computer.

Addressable RGB leds provide multi zone illumination and color signalling on single wire -

Coffee machine USB protocol were reversed via Wireshark.

It receives commands from host computer now, without vendor software.

System were wired using high and low voltage wires using soldering, crimping and terminals.

The Cubic kiosk was a successor to Botlegger Robobar

Robobar was a functioning prototype with KUKA manipulator dispensing mixed alcoholic cocktails with ice into disposable cups.

Image courtesy Botlegger