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Phase II Overview
Phase II Overview
In this phase of the project, we created the grasping mechanism that will be used to pick up the payload designed in phase I of the project.
Design Constraints
Design Constraints
Must use at least one four-bar linkage
Must be actuated by one 180 degree servo
Servo cannot directly interface with the linkage picking up the payload
Made from 1/4'' plywood
Must be able to mount to test rig
Must pick up payload along mid-line of the test rig
Must be completed in three weeks
Cannot use gears
Design Considerations
Design Considerations
Pros:
Fourbar Linkage
Lightweight design
Cons:
Dependent on clamping force of servo
Pros:
Fourbar Linkage
Planks
Dove Tails
Cons:
Dependent on clamping force of servo
Final Mechanism
Final Mechanism
Discussion
Discussion
Our design is loosely modeled on the structure of beaks, we simply pluck up the payload and set it back down; in the same manner, our upper "bill" so to speak is fixed while our "gullet" moves about to control our motion.
Degrees of Freedom Analysis
Degrees of Freedom Analysis
Graphical Linkage Synthesis
Graphical Linkage Synthesis
Our final design is a fourbar linkage. The linkage on the left was fixed while the two linkages on the right were fixed together. The linkages on the right are perpendicular. When the servo rotates, the linkages create a sweeping motion that fix the payload in between the linkages.
Design Renderings
Design Renderings
Open Position
Open Position
Closed Position
Closed Position
YouTube video of mechanism opening and closing
YouTube video of mechanism opening and closing
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