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4 Bar Linkage: Thinking in the Box

4 Bar Linkage: Thinking in the Box. Siri Maley FIRST Team 1640, 28 January 2011. Design Constraints. The 4-Bar Linkage has several states it must geometrically accommodate:. Floor Pickup. Feeder Pickup. Top Score. Low Score. Mid Score.

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4 Bar Linkage: Thinking in the Box

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  1. 4 Bar Linkage:Thinking in the Box SiriMaley FIRST Team 1640, 28 January 2011

  2. Design Constraints The 4-Bar Linkage has several states it must geometrically accommodate: Floor Pickup Feeder Pickup Top Score Low Score Mid Score In addition to fitting in the starting envelope & not leaving the 84” cylinder

  3. Design Goal We know this is possible; our issue it optimizing the design. Optimization Parameters • Low Weight • Low CG (don’t tip) • Low Moment of Inertia, I (be nice to the motor) • Best “Safe” Configuration (claw/tube near bumper perimeter) • Quick Pickup & Scoring • Easy Implementation • Robust & Maintainable

  4. Design Issue There are a lot of dimensions to play with…

  5. Solution – Inventor Model4-bar25.iam How to Move the Parts: • Jaw – Bimba 4 rod 3:1 mate “JawCylinder” open=-3, closed=0 • Tilt – Bimba 4 rod 3:2 mate “TiltCylinder” tilt=-3, flat=0 • Linkage – Linkage3-short mates “StartConfig” & “DeployedConfig” Boundaries: • Starting Box – Clear polycarbonate width & height • 84” Cylinder – Smoked polycarbonate width • Feeder Height – Smoked polycarbonate height

  6. Starting Configuration

  7. Capture Mode Note: linkage and plate subsequently shortened

  8. Possess Mode

  9. Eat Mode

  10. Place Mode

  11. Score Top-Inside

  12. Score Top-Outside

  13. Score Mid-Inside

  14. Score Mid-Outside

  15. Score Low-Inside

  16. Score Low-Outside

  17. Release Mode

  18. Closest to 84”

  19. Closest to 84” Also represents “safest” configuration (most within bumper perimeter)

  20. Current Draft

  21. Next Steps • Z-axis gripper mounting • 2 arm plates or 1? • Assembly • Shafts, bushings, collars, etc? • Arm drawings • Test before fiberglass • Fiberglass attachments

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