2011:Mechanical 2 2.22

Attendance

Start time:

End time:

Members present:

Members Attending Next Meeting:

Tasks to Complete

1. Full system check.

2. Manipulator exchange.
A- Remove Wire Guard from Manipulator #1.
B- Select a clearance drill for the bolts and chuck into a drill.
C- Remove Banner Sensors from Manipulator #1 and attach to Manipulator #2
D- Remove Wire Guard, motor, transmission and bracket from Manipulator #1.
E- Remove pulley from motor shaft.
F- Place new chain sprocket and chain onto shaft together. (Sprocket and chain are in the Red Soft Side tool bag)
G- Mount motor/ transmission/ sprocket/ chain onto Manipulator #2.
H- Put master link into new chain.
I- Mark the shims that are between the Wrist Arm Side and the Arm so that you can tell Robot Right from Robot Left and Front from Back.
J- Disconnect all wires and carefully pull them away from wrist area.
K- Remove eight nuts and bolts from Wrist Arm Side and save.
L- Careful remove Manipulator #1 from arm and keep track of shims (Place them in a preplanned position).
M- Use the shims to draw the hole pattern on Manipulator #2, be extremely careful to keep the orientation correct.
N- Use the marked holes to drill holes in the new manipulator.
O- Deburr Manipulator #2 and attach to arm.
P- Retention chains.
Q- Reconnect wires with electrical team help and guidance.
R- Screw Wire Guard on to Manipulator #2. (there are specific screws in a box in the Red Soft Side tool bag that fit into the transmissions)
S- Measure the manipulator position relative to the Frame Perimeter.
Remember the frame perimeter is;

So where our frame "sunk in" during welding does not count.
It's a straight line from corner to corner projected vertically that determines the frame perimeter.
T- If the Manipulator will not stay in the Frame Perimeter with an uber-tube add 4 more 1/4-20 bolts to lock it's position.

3. Driver practice and matches.

4. Minibot nest exchange evaluation and prep work.

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

At FLR

1 Put bolts in the corners of the upper structure

2 Put on chain guard

3 Put on minibot roof

Before FLR

1 Order spare parts from Harris

2 Redesign manipulator wheel shafts for maintainability

3 Design chain guard

4 Design manipulator wheel guard 

5 Design minibot roof and backstop

Complete;

1 Order McmasterCarr parts

Materials Needed

• task
  • sub-task
  • sub-task
• task
• 1- Spring load top and bottom
  2- Remove corner from top for park position
  3- Chain
  4- 2 half per side
  5- 1 ¾ wrist
  6- Skid plate
  7- Sensor field of view
  8- hard stops open and closed
  9- Add bumper to keep tube out of corners
  10- stronger wrist

2737T102 12 teeth 3/8 id

•