2015:Gripper Subteam: Difference between revisions

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General Summary:
'''Overview of Design'''
Uses Chain to lift car along rail.
Grippers are fixed on car and slide up and down rail.
2013 Design is being used as a reference point for design.
Weight Limit set at integration: 36 Pounds. Current Estimate: 36 Pounds (Integration Weight sheet)
Stabilizing Mechanism must be mounted near the top of the Lifter
Required Specifications:
Gripper Must move to a max height of slightly over 5 feet and as low as 10 inches from the ground (NOT FRAME)
Less than 36 pounds
Able to lift at minimum 41.9 pounds and a maximum of 57.5 Pounds
Keep CG as low as possible
Have a stable mounting position for the second gripper/stabilizer
Guide Rails up too 78 inches (6' 6")
Fast as Possible. (1 level per 2 seconds with load/ 1 Meter/Second)?
Is the Best part on the Robot.
Progress as of 1/10/2015 (7 Days Used/38 Remaining)
Design
10% Complete
Summary of 1/10/2015: Rough CAD begun and actuation design concepts complete (CAD pic)
Summary of 1/11/2015:
Summary of 1/13/2015:
Summary of 1/14/2015:
Summary of 1/15/2015:
Manufature
0% Complete
Testing
0% Complete


'''Lead screw Gripper Design Details:'''


Detailed Work Done on 1/10/2015
*Lead Screw = 3/8" diameter, 0.166 lead
Rough Design started on CAD
*Using two lead screws, one left handed, one right handed
Determined How it will be actuated (CHAIN)
*Lead screws will be driven by one 550 motor with banebots 5:1 transmission
CG Table (Located in Harris Robotics>2015> BUILD SEASON (ROBOT)> Other Design Documents) used to Find optimum mounting position ( As far FOWARD as possible without being past the front wheels)
*Actuation speed = 8 in/sec
Detailed Work Done on 1/11/2015
*Force = 100lbs


Detailed Work Done on 1/13/2015
Handy Lead Screw Calculator: [http://dartactuators.com/calculations-actuators/ http://dartactuators.com/calculations-actuators/]


Detailed Work Done on 1/14/2015
LED Design Detail:


Detailed Work Done on 1/15/2015
Have a LED bar on the back of the robot that corresponds to the gripper posistion so that the location of the gripper arms are known when looking at the back of the robot.&nbsp; 1/14/2015<br/><u>'''4 Options evaluated'''</u>
2015 discussion view source history
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This page was last modified on 11 January 2015, at 00:36.


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


4 Bar linkage-


[http://i.imgur.com/3j1xMXM.jpg Picture of 1/10/14 whiteboard in G4]
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
 
<br/>[http://i.imgur.com/y7gy7XW.png Pro/Con chart for designs] [http://i.imgur.com/3j1xMXM.jpg Picture of 1/10/14 whiteboard in G4]
 
'''STABILIZER'''
 
[http://i.imgur.com/QPhh0uH.jpg Calculations]
 
[http://i.imgur.com/YRbgww3.png 2D design]
 
Zach designs part wrong multiple times.
 
[http://i.imgur.com/xOjIdqu.png Desing for arm]
 
'''1/11/2015'''
 
[http://i.imgur.com/PhR4NFf.jpg G7 whiteboard]
 
'''1/14/2015'''
 
'''​task list'''
 
finalize actuator - lead screw
 
*finalize carriage design&nbsp;
*work on gripper design - tube? - Combo? - Sheet mtl?
 
'''stabilizer'''
 
*'''spec actuator (PNV)'''
*'''mentor review of design - finalize''' [[File:[[File:Working Geometry PLAN 01112015.pdf|RTENOTITLE]]]]
 
'''1/18/2015'''
 
[http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9159.JPG#filelinks http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9159.JPG#filelinks]
 
[http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9158.JPG http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9158.JPG]

Latest revision as of 14:02, 18 January 2015

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/

LED Design Detail:

Have a LED bar on the back of the robot that corresponds to the gripper posistion so that the location of the gripper arms are known when looking at the back of the robot.  1/14/2015
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

1/18/2015

http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9159.JPG#filelinks

http://penfieldrobotics.com/wiki/index.php?title=File:IMG_9158.JPG

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