Difference between revisions of "DEWBOT VII Arm"
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==Early Concepts== | ==Early Concepts== | ||
+ | [[media:FRC_1640_Arm_Analysis.pdf|Analysis of arm motion]] for a robot with a 2-joint arm playing Logomotion. 12 Jan 2011, Clem<br> | ||
+ | [[media:DoubleJointGeometry skm.ppt|Arm analysis 2]] for a robot with a 2-joint arm playing Logomotion, includes all scoring pegs. 15 Jan 2011, Siri<br> | ||
+ | [[media:4Bar arm analysis-skm.ppt|4-Bar arm analysis]] for single-pivot arm playing Logomotion. 17 Jan 2011, Siri<br> | ||
+ | [[media:4-Bar Report2-skm.ppt|4-Bar CAD report]] including all configurations with dimensions and actuation (pneumatic cylinders). 28 Jan, Siri. | ||
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Revision as of 03:01, 13 March 2011
DEWBOT VII's arm was developed to meet the following key strategic objectives:
- Elevate possessed Logo Pieces to score at all levels - esp. top - NEED
- Quickly and reliably score Logo Pieces on Scoring Grid - NEED
- Disengage cleanly from Logo Piece & Tower after scoring - NEED
- Assure Logo Piece orientation to facilitate scoring - NEED
- Align Logo Piece with target - z (height) - NEED
- Securely possess inflated Logo Pieces & Ubertubes - NEED
- Pick inflated Logo Pieces off field - NEED
- Load inflated Logo Pieces at Feeder Station - NEED
- Close claw when Logo Piece is at correct penetration - WANT
- Ubertube manually loadable with robot powered-down - NEED
And a few game constraints
- Arm must be manually movable with robot powered down - NEED
- Arm must be within starting envelope at beginning of match - NEED
- In play, arm may not break the 84" cylinder limits - NEED
Not to mention some engineering considerations
- Robot center of mass should remain low & centered for stability
- Arm must be robust & reliable
- Easy to use
Material Constraints
The team's decision to build a Pivot Drive-Train limited the motors available for the arm & Minibot deployment. These were:
- (1) FischerPrice Motor; and
- (4) Denso window motors.
Pneumatics were also available for the arm & Minibot Deployment.
Early Concepts
Analysis of arm motion for a robot with a 2-joint arm playing Logomotion. 12 Jan 2011, Clem
Arm analysis 2 for a robot with a 2-joint arm playing Logomotion, includes all scoring pegs. 15 Jan 2011, Siri
4-Bar arm analysis for single-pivot arm playing Logomotion. 17 Jan 2011, Siri
4-Bar CAD report including all configurations with dimensions and actuation (pneumatic cylinders). 28 Jan, Siri.