The Mark 1 robot is the first prototype to be developed at CrossWing Inc. It was a ceiling-mounted arm with 3 degrees-of-freedom (DOF), consisting of a turret, shoulder joint, and arm joint. A wrist-system, adding 2 extra degrees-of-freedom, is attached to the end of the arm. The wrist provides a twisting motion, followed by a flexing motion, as well as a one degree of freedom gripper system based on the Aaron Dollar under-actuated gripper design.
This 6-DOF system is used as a test platform for sensor and actuator integration for future prototypes. It is controlled by a Make Controller (based on the ARM architecture), runs RTOS and uses CGI-type commands over Ethernet via an embedded web server.
Concept video, in a kitchen situation, with a two armed version of the Mark 1 robot running on a ceiling track.