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Objective:
Design and produce the gears and tower of the Mechanism
Design Constraints:
Mechanism must be actuated by one 180-degree MG-996R servo.
Mechanism must mount to the base of the test rig.
The drive gear must turn a minimum of 150 degrees.
The output angle of gear train should be 108 degrees.
Materials include: 1/4" plywood, wood glue.
Must be able to turn the entire claw and arm mechanism.
3 weeks to finish Phase 4
Design Considerations:
Given that theta out must be 108 degrees and theta in must be a minimum of 150 degrees, the range of gear ratio was a minimum of 1.388 and 1.667 and thus, 1.5 was chosen as an appropriate middle ground. Having a gear ratio > 1 meaning a smaller gear drives the larger gear reduces speed but increases the torque.
Design #1
Design #1
24/16 teeth | module = 5.00mm/tooth
24/16 teeth | module = 5.00mm/tooth
Pros: Bigger teeth are stronger than smaller teeth
Cons: Less teeth on both gears compare to our final design result in less smooth power transmission
Design #2
Design #2
30/20 teeth | module = 4.00mm/tooth
30/20 teeth | module = 4.00mm/tooth
Pros: More teeth on both gears result in smoother power transmission
Cons: The laser cutter has certain precision, and it could eventually affect how smaller teeth are cut out
Gear Plan
Gear Plan
theta in/ theta out = N2/ N1
Gear ratio = 30/20 = 1.5
theta out = 108
theta in = theta out * (1.5) = 108 * 1.5 = 162 degrees
Design Renderings:
Mechanism over Pickup Zone
Mechanism over Pickup Zone
Mechanism over Drop Zone
Mechanism over Drop Zone
Comparison Photos:
Reflection:
Upon finishing, having a proper mount for the Arduino and Sensor would be advantageous as the sensor would operate more consistently. We could also have improved aesthetically by adding a theme to the overall claw. Additionally, better wire management could also add to the aesthetic appearence.
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