2015:Gripper Subteam

Overview of Design

Lead screw Gripper Design Details:

• Lead Screw = 3/8" diameter, 0.166 lead
• Using two lead screws, one left handed, one right handed
• Lead screws will be driven by one 550 motor with banebots 5:1 transmission
• Actuation speed = 8 in/sec
• Force = 100lbs

Handy Lead Screw Calculator: http://dartactuators.com/calculations-actuators/
4 Options evaluated

Lead screw (Design Chosen)- 1/14/2015

4 Bar linkage-

Scissor Actuator-

Single Cylinder Pneumatics w/ Cable wheel-

Work Accomplished on 1/10/2015

Task list

•clean up calcs and review w/c.s (goal speed (lifter) 1m/s)

•look at 2013- use same lifter opt 1 – scissor lift, opt 2 – 4-bar, opt3- lead screw. Opt 4 – single cyclinder w/ cable wheel

•get lifter group to understand, sude- lift mech

•divvy up components

•pick wikki student

•strategy/control- do we need 2nd grip to go up and down

•size/pick motor (27 stacks) mech cam controls force

•decide on grip design MB. # of open/close – proof pneumatics works

•answer G’ or 5?????-Larry irrelevance

•review parts/ assembly log

•steps- w/static upper

Pro/Con chart for designs Picture of 1/10/14 whiteboard in G4

STABILIZER

Calculations

2D design

Zach designs part wrong multiple times.

Desing for arm

1/11/2015

G7 whiteboard

1/14/2015

​task list

finalize actuator - lead screw

• finalize carriage design 
• work on gripper design - tube? - Combo? - Sheet mtl?

stabilizer

• spec actuator (PNV)
• mentor review of design - finalize