DEWBOT VII Arm

DEWBOT VII's arm was developed to meet the following key strategic objectives:

1. Elevate possessed Logo Pieces to score at all levels - esp. top - NEED
2. Quickly and reliably score Logo Pieces on Scoring Grid - NEED
3. Disengage cleanly from Logo Piece & Tower after scoring - NEED
4. Assure Logo Piece orientation to facilitate scoring - NEED
5. Align Logo Piece with target - z (height) - NEED
6. Securely possess inflated Logo Pieces & Ubertubes - NEED
7. Pick inflated Logo Pieces off field - NEED
8. Load inflated Logo Pieces at Feeder Station - NEED
9. Close claw when Logo Piece is at correct penetration - WANT
10. Ubertube manually loadable with robot powered-down - NEED

And a few game constraints

1. Arm must be manually movable with robot powered down - NEED
2. Arm must be within starting envelope at beginning of match - NEED
3. In play, arm may not break the 84" cylinder limits - NEED

Not to mention some engineering considerations

1. Robot center of mass should remain low & centered for stability
2. Arm must be robust & reliable
3. 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.

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