Cacao’s body

Final Design of Cacao body

Cacao’s body is the part that contains the most of robot’s hardware.

Cacao’s body components

  • Intel NUC

  • Jetson Xavier

  • UR3e control box

  • Speaker

  • Microphone

  • Power and protection system

Physical Details

Body Dimension: xx cm x xx cm x 126 cm

Frabication Method:

  1. Using Aluminum Frame and Bracket

  2. Laser cut metal Sheet and acrylic

  3. Some custom parts using 3D printer

Design Methodology

  • Easy to install and maintain

Circuit area on Cacao’s body is the main area for Software and Firmware hardware which using din rail for installation.

  • Core of robot’s perception

On body there are camera and microphone at the head which is a visual and sound perception. More than that there are a speakers for give a response to human.

On-going

  • Adding a Z-axis actuator

Cacao’s gripper need more workspace to operate some task. Mostly of industrial Z-axis actuator is a PLC based control which PLC is not installed in robot. Z-axis guide is considered as a harder way but able to use.

  • Adding 2 DoF head

To do others task, Cacao need wider visual perception. At first, we have designed a 2 DoF head having yaw angle and pitch angle but didn’t use yet.