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.
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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