Embedded Files
Bill of Materials
Bill of Materials
CAD Assembly
CAD Assembly
The zip file for the parts and the assembly is linked above. Below are screenshots of the CAD assembly. The gripper is not featured in the assembly because the parts from the source were meshed. However, it goes on the other end of the servo arm. The servo mount is designed to be compatible with the holes of the robot, utilizing M5 screws. The servo cap was included to secure the servo while it hangs upside down and resists moment. The arm extends 3cm out, so that it does not have any risk of collision with the rest of the robot. The sides of the arm (not including the gripper or the pump) are 5cm long, so that the turn radius is big enough to go around the robot and the camera.
The zip file with the parallel gripper parts is linked above. The parallel jaw gripper came from an open-source. This design was ideal for our project because the jaws are generally flat to be able to pick up the block and the cylinder. Further, the z-height does not change. Finally, it had holes on the top that made it easy to attach to the servo arm.
Electrical Schematic
Electrical Schematic
The electrical design is quite simple. We used a USB to power the Arduino, and a separate power supply module that uses a 9V battery for the servo motors. The servo motors are connected to power, signal from Arduino, and ground. We would have liked to control the pump directly with the Arduino; however, we were short on time to make the circuit for it. As a backup plan, we did manual switching to demonstrate the effectiveness of the pump and suction cup. An Arduino project involving pumps is linked in the resources as a reference.
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