Task: Grabbing cages that are loaded into the system, done by the grabber arm. Constructed with 6061 Aluminum rectangular tubing, steel rods, aluminum extrusion, shaft collars, and linear bearings. The grabber arm features a Firagelli linear actuator for the grabbing mechanism and a Tsubaki Power Lock to attach the grabber arm to the rotating shaft. 

CAD of Grabber Arm

CAD of Rotary Platform

Task: Flipping the cages into a position where all bedding and refuse inside the cages can fall into a dump, done by the rotary platform. The rotary platform consists of two steel plates where the bearings and motor will be placed. The plates are braced with 8020 aluminum extrusions in addition to foam-rubber covered stops for the grabber arm to rest on and to prevent metal-on-metal collision. 

CAD of Linear Translation Base

Task: Transferring the cages to Central Research Services’ in-house washer system, done by the linear translators. This serves as the base on which the rotary platform and grabber arm mechanisms rest. 

The steel plates of the rotary platform are mounted on rail blocks, which are translated via a two ball screws and a two stepper motors. This allows for smooth, controlled translation of the entire mechanism along the base.