Arm
Arm replaced with extrusion
up close
During our recent class, we made progress with our design by integrating metal gears. However, a significant challenge has emerged due to a substantial weight disparity between the arm and the base of our project. This weight imbalance has resulted in difficulties in achieving stability, especially when the arm is in motion. It's worth noting that this situation aligns with the thesis I initially proposed, which predicted the potential for severe balance issues. In our pursuit of solutions, one consideration is reverting to our previous drive train design. While this might address the balance problem, it would introduce a new challenge – the inability to suspend. This presents us with a dilemma as we need to balance both stability and functionality. In an effort to resolve this issue, I sought advice from a former colleague who suggested a potential strategy. This involves separating the components for the arm onto an expansion hub while keeping the drive train on the control hub. The intention behind this approach is to potentially mitigate the delays we've been experiencing. However, this also comes with the realization that time is running short, and we still have the substantial task of programming our autonomous functions ahead of us. This situation adds a layer of urgency to our project as we navigate these complex design and programming challenges.
I was responsible for integrating the torque servo with our project's wrist. This is a pivotal component that empowers the wrist with the necessary torque to perform its tasks effectively. We have plans to run tests to ensure it operates smoothly before fully incorporating it into our setup
Servo Wrist 10-18-23
Suspending Hook
Suspending Hook Sketch
Attachment to the Channel
This is how we are currently mounting the hook ont0 the robot arm.
Suspending Hook
The hook is mounted onto a 40-tooth gear to stay in place.
C-Channels for improved structure
Today, our new mentor Rachel provided valuable feedback on our bot. She commended Claw's effectiveness, advised us to enhance the shaft structure for better tension distribution, suggested using two c-channels at the back to form a strong triangle, recommended employing a math formula to determine the optimal angle for the drone launcher, proposed altering the overall drone placement, advised adding a worm gear to improve motor performance and arm stability (with a note on 3D printing the gear), recommended inserting a spacer between the wrist and extrusion to reduce friction and ease movement, and suggested shortening Volt for enhanced maneuverability under poles.
Addition of the Worm Gear
Top View of Worm Gear
Front View of Worm Gear
3D Worm Gear and Worm Drive Designs
3D Design of Worm Gear and Worm Drive
Expanded View of 3D Design of Worm Gear and Worm Drive
Surgical Tubing
We used some surgical tubing to try and relieve some weight off of the robot arm. The point of the surgical tubing is for it to be pretty tight when the arm is down so when the arm goes back up, the surgical tubing will try and relieve some tension so that the arm goes back up faster.
Top View of Surgical Tubing
Side View of Surgical Tubing
New Arm Lift Design
Our new idea is to use sprockets and chains to lift the arm because we know for sure it will be strong enough.
New Go Builda Suspending Design
Our new idea to suspend our robot is to use Go Builda pieces to suspend the robot. We would build two of these. The reason it would be so useful is because we would be using a lift system that would raise up, hook onto the bar, and then retract, which would lift up the robot.
Go Builda Pieces
2 x 5203 Series Yellow Jacket Planetary Gear Motor
2 x Linear Actuator Kit
Beginning of the Construction of the New Arm
We started the building of our new arm design. We started out by finding a way to mount the motor horizontally. We did this by using the middle slanted wholes to mount it.
Side View of the Mounted Motor
Top View of the Mounted Motor
Worm Gear
Top View of Worm Gear
During this class period, we worked on getting the 3D printed worm gear on our robot, a few issues we faced included, the hex shape on the gears being too small or too big so we would have to hammer them into the shafts. once we got them on there we realized that the print on the regular gear teeth did not align with the worm gear, there was too much space in between them. This caused them to slip often, and since they are plastic, once they slipped we would have to replace everything because the teeth on both the regular and worm gear were just too worm out. We also had to add the short metal piece on the outside so that it would hold up the shaft, bringing the teeth closer.
New Arm Design 12/13/23
Our plan for the arm is to mount it in the middle. We will have a channel horizontally mounted in the middle. We will have two more channels vertically mounted. We will then have the motor mounted on the vertical channel. We will use sprockets and chains to make the arm work.
Sketch for the New Arm
Sketch of How the Arm Will Work
Arm Notes 12/15/23
arm is mounted on the back of the robot
motor is mounted on the side of the arm mount and we mounted the arm mounts' base with two angle brackets
Chain officially and properly attached
Chain officially and properly attached top view
In class today, since we had the linear actuators built. we worked on making the mount for the arm and proceeded to attach it. now we need to figure out where to mount it because if thee arm extends out into the opposite direction it messes with the weight of the robot when driving which then messes with how much traction we have because of how distorted the weight is. i believe it is something we will have to figure out once we have a functioning arm. maybe we could have it in the middle, but then it might exceed to size limit. and if we have it further back the arm might not reach the backdrop.
Arm Notes pt 2: 12/15/23
We will be using L Brackets to mount all of the channels.
L Brackets that Mount the Channels to the Base of the Arm
L Brackets that Mount the Channel to the Base
Wrist/Claw Design
For the wrist, I plan to use hex pillows, and a regular pillow block to allow the wrist to have better flowy movement. The claw design will stay the same.
Top View of the Chain system for the arm.