In recent years, remote control applications have been attracting attention in the field of robotics research. Among the products handled by the overseas product procurement and consultation service "Unipos" (operated by Tegara Corporation), the robot "ALOHA" that can perform complex tasks remotely with both hands is gaining popularity.
Because ALOHA is open source, it can be flexibly modified and expanded to meet the needs of users. However, this means that there are many steps to configure the hardware and software. Therefore, for those who want to use it immediately after purchase, the setup may seem troublesome.
So, in this article, we will introduce the general flow of advance preparations and points to note, as reference information for those considering introducing ALOHA, a company that has a wealth of experience not only in importing but also in installation and setup.
This article is based on the following information from ALOHA:
Tony Z. Zhao ALOHA Official GitHub
https://github.com/tonyzhaozh/aloha
The ALOHA tutorial (for Stationary version 1) ALOHA official manual
https://docs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK-yVtX5cKYME/edit
table of contents
What is ALOHA?
The stationary Aloha Stationary (formerly ALOHA Bimanual Teleoperation Kit), which is operated on a dedicated desk, stands for "A Low-cost Open-source Hardware System for Bimanual Teleoperation" and is a low-cost open source system for two-handed remote control. It's a hardware system.
Please refer to the article below for the ALOHA concept and previous model information.
Assembling the ALOHA Arm
- Assembling the Master Arm
– Winding tape around the gripper and attaching the gripper to the Slave Arm
Tips 1. Drilling holes in 3D printer parts
Tips1-1. Check the screw hole size and necessary tools
Some 3D printer parts require the drilling of screw holes. When drilling holes with an electric drill, care must be taken to ensure that the drill bit does not slip. We recommend that you choose a drill bit that is the same size as the screw you are using or slightly larger. We recommend that you set the drill speed to a low speed to prevent damage to the part.
Tips1-2. Drilling pilot holes for screw holes
The original bolts included are not self-tapping screws. Therefore, after drilling pilot holes, you can use a tapping bit to cut the threads to ensure secure fastening. If you screw in without a pilot hole, the hole may become too large and the screw may not be able to be fastened.
Tips 1-3. Recommended drill bit size
In our 3D printer part assembly examples, we use the following drill bit sizes:
| Drill Bit Size | Processed parts |
| Φ2.0mm | Rotor (counterbore), cam mount |
| Φ2.5mm | Lower part of handle, upper part of handle, slider (through hole), rotor (end hole) |
| Φ3.0mm | Finger 1, Finger 2 |
| M3 Tap | Slider (Φ2.5mm pilot hole), rotor (Φ2.5mm pilot hole) |
Tips1-4. Drilling screw holes for sliders
In the case of sliders, drilling a Φ2.5mm through hole to the rail guide surface will allow for clean thread cutting.
Tips 2. Assembling the back drive unit
When assembling the backdrive unit, use thread locking compound (Loctite) to secure all screws.
Tips 3. Replacing the screw of the end effector servo No. 9
Normally, M9 x 2 screws are used to attach parts to the end effector servo No. 10, but the 3D printed "rotor (part)" has a countersunk hole, and if the entire screw is tightened, the servo shaft may become fixed and stop rotating.
As a workaround, you can either replace the screws with M2x8 screws or cut the original screws to a length of 9-8mm.
Tips 4. Apply grip tape to Finger 1 and Finger 2
If you want to apply grip tape to Finger 1 and Finger 2, it will make the process smoother if you apply the grip tape before attaching the parts to the arm.
Assembling the ALOHA table and frame
- Assembling the table
- Assembling the frame
- Attaching the frame to the table
Tips 5. Assembly order
It is easier to assemble the frame if you first assemble the entire aluminum frame and then place it on the table.
When assembling, the required number of T-nuts must be inserted into the frame (posts and frames) beforehand. To add T-nuts later, disassembly is required.
Tips 6. Reinforce the frame
The frame is reinforced for the wires necessary for arm operation, while ensuring sufficient range of motion and tension.
If the wires are pulled too tightly, the aluminum frame may bend in the center of the front or sides. Proper tension management is important to prevent the frame from being subjected to excessive force.
Tips 7. Safety measures when operating the arm
Please take sufficient care to ensure safety when operating the arm.
The arm may suddenly fall when resetting or stopping the movement, so we recommend supporting it or placing some cushioning on it. When testing, start with a slow movement.
Summary
Trossen Robotics has released a new version of ALOHA Stationary, with a simpler frame structure and updated parts and functions (as of April 2024).
Although the information in this article is from an older version, the basic principles and content are almost the same. I hope it will be helpful.
Please contact us if you have any requests for customization or hardware structure suitable for your needs.
We can help you design and manufacture the configuration you want.
The following article provides reference information on installing ALOHA software. Please refer to it if you are interested.
Support Plan Information
We also have a support plan in which we carry out these setups and deliver them to the customer in a "ready-to-use" state.
ALOHA is delivered by the manufacturer with various frames and robot arms in separate pieces. We will assemble and set up these hardware in your usage environment (laboratory, etc.), verify its operation, and then deliver it to you (we can also make arrangements from overseas manufacturers).
In addition, it is recommended to use a high-spec computer suitable for machine learning to operate ALOHA. Please leave it to us to prepare the best computer for running ALOHA. We will propose a machine with a configuration tailored to suit your usage.
Tegara Corporation's TKS Division provides a service that provides a complete set of equipment necessary for research and development and experiments (TKS = TurnKey System). Please feel free to contact us.
Reference: Robot system assembly and on-site installation (ALOHA)
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Please feel free to contact us regarding the installation and configuration of ALOHA Kit.
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