Design Process
5 DOF Arm
Weeks 1-3
Early arm link designs to evaluate dimension and necessary reach
Left: Early base configuration for swivel motion
Right: Final base configure for swivel motion
Weeks 4-6
Left: 1st arm assembly > ended up being too short and limited ROM
Right: 3rd arm assembly > modified the elbow joint and extended the link lengths but this ended up being too long and have excessive ROM
1st arm assembly fabricated
3rd arm assembly fabricated
Weeks 7-9
Final version
Final version w/ larger servo for 2nd joint
End Effector
Weeks 5 & 6
Clip-on design for vacuum gripper
Final holster for vacuum gripper
Final vacuum end effector assembled with a Dynamixel servo, holster, and vacuum gripper
Weeks 7-9
First iteration of 2-finger gripper
Second iteration of 2-finger gripper
Final version of the 2-finger gripper mounted w/ HiTec servo; gripper design was based the parallel gripper concept w/ spikes on the fingertips
Mobile Base
Week 1-3
1st 3D printed body half for mobile base > the wheel motors did not align correctly and it need features to combine the two halves together; essentially, this 3D printed model was used to visualize space inside for electricals and boards
Added features to fit two halves together like a puzzle
Weeks 4 & 5
Assembled body
Removed the bottom and sided to combine the two halves with an acrylic plate as the bottom
Assembled body without acrylic plates
Bottom plate
Middle plate
Top plate
Assembly of all body components
Week 6
Final version of the mobile base assembled