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Great work!

I do agree, that the 'multi arm' approach is the way to go (EDIT: triple arm minimum, as I just did some testing and with only two arms there is really no way to effectively stabilize 'anything' that you are holding as the item tends to easily rotate out of control), unless you have access to a 3d printer and effectively free filament, etc.

The geared linear approach was done as a 'cheapest' first attempt to duplicate TempestVR's and tomotomox's work in linking a robot directly to VAM. After having done that, and then done the tcp/ip connection, I moved directly now to the multiple servo/axis approach. It is funny how much less printing will be required, lol.

Also, in ref to the geared linear approach, I was working on modifying the gear for the 20kg amazon servo I had bought DS3218MG ( https://www.amazon.com/ANNIMOS-Digital-Waterproof-DS3218MG-Control/dp/B076CNKQX4) as seen here ( https://imgur.com/a/OMaqHPL ), and per the dimensions in the images for the servo, the arm has a stated furthest hole of 23.5mm, turns out I had to do a few prints of test gears as the hole was actually at 24.5mm! Not to mention, where the central 'hub' is, it is different from the MG995R, so, that then now threw off the 'gearing' being properly mated and so then there is play between the rack and pinion, lol! With a multiple servo/axis setup, that wouldn't be an issue at all! The only alignment issues are effectively those due to the proper synchronized control of the 2+ servos.

I looked into using the ram mount too, and like it, but I think I'm going to go with this https://www.amazon.com/VIVO-Monitor-Adjustable-Articulating-STAND-V001/dp/B00B21TLQU/ , it is meant for holding up 22 pound monitors, so I think it shouldn't oscillate too much while the robot is in motion. In addition it can be mounted to a desk, to the side of a bed, and has a nice long articulating arm and 75 and 100mm VESA mounts which will be easy to 3d print something to attach to. A non-clamped version that you could 'sit around' is here https://www.amazon.com/VIVO-Computer-Free-Standing-Adjustable-STAND-V001H/dp/B01FE2BCR8/

So at this point, I'm currently printing the housing for the new multi axis robot for testing, it will be a 3-4 servo setup in the end, might have a few variants. Going to be using an adafruit servo hat https://www.amazon.com/2327-Raspberry-Servo-Development-Board/dp/B00SI1SPHS/ and a raspberry pi and the tcp/ip VAM connection.

Lastly, once I get the multiple axis setup, I will then move to the code/algorithms such that there can be a seemless transition from the VAM 'movements' to the new robot(s) based on it's features. The idea is to make all this as seemless and easy as possible for anyone to do themselves.

And all thanks to TempestVR for all his contributions, without him I wouldn't have done any of this!

As for the need of a third arm- that is the case with something like a fleshlight (which is 25 cm long) where the unit is attached at the front. However, a smaller toy like a quickshot or a standard Onahole should work fine as long as the connections to the arms have a little friction. A fleshlight needs the overhead stabilizer (sky hook!) like you see in TempestVR's design.

I was just thinking maybe just a one arm could work with something like this attached https://www.amazon.com/Ajax-Scientific-Extension-Overall-Length/dp/B00EPQ3R3W/ref=sr_1_5?keywords=ajax+scientific+clamp&qid=1566249506&s=gateway&sr=8-5 to it. Clamp it to the underneath of a table or desk maybe? I suppose this could be linear actuated but a direct drive might work as well depending on a persons flexibility.

> Valve Index 2080ti I9 9900k or Ryzen 7 3700x 32gb nvme ssd That's $3000+ for the components you have listed.

Too expensive.

Get 90% of the performance for a fraction of the price and get you some extra toys in the process.

• Valve Index
  
• RTX 2060S
  
• Ryzen 5 3600
  
• 16 GB RAM
  
• 1TB NVME SSD
  
  Price: $1937
  
  That leaves you $1000 for extra toys. Add:
  
  
• 3-5 Vive Trackers for motion capture. +300-500
  
• Leap Motion Tracker for hands free finger tracking when you want it (it fits in the Frunk of the Index) $89
  
• Robot Sex Machine or Fleshlight Launch: $400 or $250.
  
  NOW you're cookin' with gas.

I use these. They're crazy expensive for two strips of velcro but they do work well.

https://www.amazon.co.uk/Rebuff-Reality-Trackstrap-pair-Tracker/dp/B07114L4CH

The actual units are the same.

The difference is that the VR version comes with a mount to attach the thing to your headset and a 15' usb cable. Some people seem to do all right rigging their own mounts with double sided tape or velcro. And maybe you already have a cable long enough to go from your headset to the computer.

So if money's tight you could skip the VR version. I got it for convenience sake.

I also got one of these so i can plug the thing right into the USB port on the Vive headset, rather than running another cable back to the computer. Without the 90 degree usb plug adapter, the Vive cover wont fit on when something is plugged into it.

I haven't put any of this to the test yet.

I am printing the gear and the rack atm with 30% infill and 1.2mm walls per 0,2mm. I guess it will be ready in 4 or 5h. ;-) I guess the housings will not be that critical and can be printed near to normal. Yes, non-metric screws and nuts are a problem in Germany. I don't even get square nuts on my hardware store. Maybe the metric nuts will not fit well, but that is no big problem, cause you can easiely melt them in the PLA with a soldering iron.

I have an simple idea for a multi angle stand and made a STL file for it to work which is based on this https://www.thingiverse.com/thing:2023452/files. Here is the idea: https://www.amazon.de/kwb-Bohrmaschinen-St%C3%A4nder-Akkuschrauber-Eurospannhals-Schleifteller/dp/B0050ACI2S/ref=sr_1_1_sspa?__mk_de_DE=%C3%85M%C3%85%C5%BD%C3%95%C3%91&keywords=bohr+tisch+st%C3%A4nder&qid=1565958495&s=gateway&sr=8-1-spons&psc=1&spLa=ZW5jcnlwdGVkUXVhbGlmaWVyPUExU0xBUTZLRlhXNUxNJmVuY3J5cHRlZElkPUEwMTQ1OTY1MjcxTDRESzI0UDNOUCZlbmNyeXB0ZWRBZElkPUEwMjI2NDkwMkVOQUVEQ05GWk44WCZ3aWRnZXROYW1lPXNwX2F0ZiZhY3Rpb249Y2xpY2tSZWRpcmVjdCZkb05vdExvZ0NsaWNrPXRydWU=

You have to glue/screw the printed "BaseNew" to the flat side of the housing and it shall fits into that drill holder.

I made an other Fleshlight holder, too, but I only have an old "Fleshlight Go", which is a bit smaller than the original afaik. Those are very coarse Tinkercad edits, fast and dirty. I add two diameters, 50mm and 55mm.

Here are the files https://mega.nz/#F!3bQnlahR!Bz-C1Xqt3cZGsJCUgjmcOA