Difference between revisions of "DEWBOT III Arm"
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:# A gripper driven by pneumatic cylinder | :# A gripper driven by pneumatic cylinder | ||
| + | ==Original Arm Mechanics== | ||
The Shoulder articulation was used to deploy the arm for play from the robot's initial staring position. The pneumatic cylinder (Bimba xxx) was retracted and the shoulder folded back for the start of competition (to keep withing the FRC starting envelope dimensions). At the start of Autonomous Play, DEWBOT III's compressor came on and the Shoulder deployed to the forward position. The Shoulder could also be actuated during the game to allow bi-directional play (picking up ringers on one side of the robot and scoring on the other) or to manage center-of-mass when climbing ramps at the match end for bonus points. Bi-directional play was seldom used in practice. | The Shoulder articulation was used to deploy the arm for play from the robot's initial staring position. The pneumatic cylinder (Bimba xxx) was retracted and the shoulder folded back for the start of competition (to keep withing the FRC starting envelope dimensions). At the start of Autonomous Play, DEWBOT III's compressor came on and the Shoulder deployed to the forward position. The Shoulder could also be actuated during the game to allow bi-directional play (picking up ringers on one side of the robot and scoring on the other) or to manage center-of-mass when climbing ramps at the match end for bonus points. Bi-directional play was seldom used in practice. | ||
Dewbot III's elbow was driven by a pair of Nisso-Denso motors (L & R) with a 4:1 "gear" reduction via 10 & 40-tooth timing belt pulleys. | Dewbot III's elbow was driven by a pair of Nisso-Denso motors (L & R) with a 4:1 "gear" reduction via 10 & 40-tooth timing belt pulleys. | ||
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| + | ==Improves Gripper== | ||
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| + | ==Alternative Arm Design== | ||
[[Category:Robot]][[Category:DEWBOT III]] | [[Category:Robot]][[Category:DEWBOT III]] | ||
Revision as of 02:23, 10 August 2009
Dewbot III ended up with an effective arm for scoring, but this arm had a difficult birth.
The Arm used on Dewbot III has three articulations:
- A hinge shoulder driven by a pneumatic cylinder
- A hinge elbow driven by motors and monitored via potentiometer
- A gripper driven by pneumatic cylinder
Original Arm Mechanics
The Shoulder articulation was used to deploy the arm for play from the robot's initial staring position. The pneumatic cylinder (Bimba xxx) was retracted and the shoulder folded back for the start of competition (to keep withing the FRC starting envelope dimensions). At the start of Autonomous Play, DEWBOT III's compressor came on and the Shoulder deployed to the forward position. The Shoulder could also be actuated during the game to allow bi-directional play (picking up ringers on one side of the robot and scoring on the other) or to manage center-of-mass when climbing ramps at the match end for bonus points. Bi-directional play was seldom used in practice.
Dewbot III's elbow was driven by a pair of Nisso-Denso motors (L & R) with a 4:1 "gear" reduction via 10 & 40-tooth timing belt pulleys.
