Design Process

Early arm link designs to evaluate dimension and necessary reach

Left: Early base configuration for swivel motion

Right: Final base configure for swivel motion

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

Final vacuum end effector assembled with a Dynamixel servo, holster, and vacuum gripper

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

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

Assembled body

Removed the bottom and sided to combine the two halves with an acrylic plate as the bottom

Assembled body without acrylic plates

Assembly of all body components

Final version of the mobile base assembled