2020:Hang
Team Leads: Alex F. & Nicole L.
Prototyping 1/5/2020-1/11/2020
Overview: Based on initial team brainstorming and sketching, as well as the information from Strategy Subteam, we determined to prototype:
- Telescoping arm
- We are also prototyping a self-balancing mechanism.
- Deployed hook
- Hook designs
Observations: We observed the following over the course of prototyping:
- So far everything seems to be working
Decisions:
- Need to keep prototyping
Need to do:
- We still need to finish the self-balancing mechanism (needs to be properly tensioned, and ideally have hooks attached to it).
- The deployed hook is a WIP (Mr. Cavaliere was working on it, but had to do drive-base, so it's not done). It extends properly, but no hook is attached to it. It currently extends about 37.25 inches.
Self Balancing Mechanism
Telescoping arm Winch prototype
Telescoping arm prototype other end
Design
Daily Diary
1/7/2020 5:00-9:00
Attendance: Alex F, Nate S, Nicole L, Elliot W, Nevin W, Michael N, Ben S
We re-tested the telescoping arm and designed a self orienting hook mechanism base. Tommorow, we have to finish that and adjust the surgical tubing and add hooks to the bar. We need the tape measure spring for the final telescoping arm design if we choose to follow that route (and need the actual hooks, which are being prototyped as we speak/type). We have to decide if we want 1 or 2 telescoping arms still, it depends. See robot design for pictures or will update later. Videos are not allowed, on this wiki, so more pictures.
1/8/2020 5:00-9:00
Attendance: Nicole, Alex F, Nate S, Trevor W, Ben and Christian Stoeckl
Nicole: I did the calculations for where both robots would have to hang and how heavy they are to be balanced, the file is on the harris drive as "Torque for Hang NL". This spreadsheet doesn't account for only one robot to hang and doesn't take the 8 deg of allowance from being balanced. Tommorow we will have to fix that so that it can display when a robot is balanced at the center which can help us figure out if we need one arm or two arms. Tommorow we also need to figure out the force to lift the robot with one or two robots which will lead us to know what type of motors we might need. We also still need to figure out the size of the constant force spring to bring up the hook alone. We have to CAD up a scale sketch of the different arms (telescoping arm and the deploying arm at least) with it on top of the drive base so we can see how many sections we will actually need to have.
