PHASE 1

PAYLOAD

our goals

For our first phase, we are tasked with designing a payload. It will be 3D-printed (PLA) with the computer software Cura. Our primary goal for this phase was to design the payload so that it could be secured by our mechanism and other groups' mechanisms. This means that we are looking for a neutral geometry that can be secured from several different orientations, with several different grasping mechanism designs.

Constraints

Must fit within a 1.5" x 1.5" x 1.5" volume
Must occupy a minimum volume of 1 cubic inch
Must be easy for the mechanism to grasp
Must be light weight
Must be 3D printed using a 0.4mm nozzle and a 0.2mm layer height

Carl Pantano's sketch

Pros:

Light weight for easy lifting
Simplistic to print on any 3D printer
Large amount of gripping surface area

Cons:

Thin walls could be an issue if too much force is applied from mechanical arm
Might be incapable of reaching minimum volume unless altered

matthew heras' sketch

Pros:

Has decent grip
Light weight
Can be oriented from any direction

Cons:

Could be problematic for 3D printing

Luke harvey's sketch

Pros:

Optimizes secure grip
Stable footing (depending on material)

Cons:

Could have difficulty printing because of numerous smooth surfaces

matthew delrosso's sketch

Pros:

Easy to grip
Light-weight

Cons:

Higher potential for print failure
Requires higher grabber accuracy

final design

Our final design implemented an idea central to all of our designs — concave sides. Since a horizontally-gripping claw will be grabbing this payload, we decided to give it an "hourglass" shape. The links that grasp the payload should secure it easily with these overhangs. This shape also allows for a variety of different grasping mechanisms to lift it easily. The flared top and bottom also compensate for any possible tolerance issues.

Cura screenshot of payload

Material properties