1 / 28

Robot Arm

Robot Arm. SOSI 2012 Matt Chalker chalker7@gmail.com. Two pre-competition components Robot Arm Documentation Competition Move Items from playing field to ½ gallon milk jugs. Construction Rules . 30 x 30 x 100 cm 14.4 V max Pneumatics must be uncompressed to start

halima
Download Presentation

Robot Arm

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Robot Arm SOSI 2012 Matt Chalker chalker7@gmail.com

  2. Two pre-competition components • Robot Arm • Documentation • Competition • Move Items from playing field to ½ gallon milk jugs

  3. Construction Rules • 30 x 30 x 100 cm • 14.4 V max • Pneumatics must be uncompressed to start • Remote control (wired, IR, R/C, pneumatic, etc.) or preprogramed • Unlimited joints

  4. Documentation • Engineering drawings (such as 3-views) showing: • All motors/actuators • All energy sources • All end effectors • Controls

  5. List of components • Includes every individual component except fasteners • Name of component • Location/vendor from where the component was purchased • 2 or more key properties (weight, dimensions, voltage rating, etc) • Energy source (n/a is acceptable) • Quantity

  6. Operating description • Device reaction to every input • Tentative/proposed plan of movement (strategy if there is a specific one)

  7. Competition • Event supervisor selects 4 components from their technical documentation • Students point them out on the device • -1 point for every component missed • 5 minutes prep time next • 3 minute competition time

  8. Competition • Playing field is 70 x 70 cm • Robot arm sits in one corner • Milk jugs around edge • Move items from the playing field into milk jugs • PVC pipes, Nails, Unsharpened pencils, batteries • Various points for putting different

  9. Scoring/Tiebreakers • Certain points for certain items in different jugs • Ping pong ball raised at end of run • 0.02 points/1 cm above ground • Time is first tie breaker • Motors second tie breaker • Lowest voltage of batteries is third

  10. Construction notes • Different types of robot arms • Based on degrees of freedom (rotation points) • Two major types useful for SO • Fully articulated, hemispherical • SCARA (crane type)

  11. Hemispherical/Articulated

  12. SCARA/Crane • http://en.wikipedia.org/wiki/SCARA

  13. Types of Control • Traditional remote • Master/Slave • Preprogrammed

  14. General Tip • Read the rules • KISS • Do not over/design engineer

  15. General tips • Central joint is CRITICAL • Weight at end of arm also important • Stiffness everywhere • Servos are better than motors • More expensive • Stronger • More precise • DPDT switches can reverse DC motors

  16. End Affectors • Electromagnets • Easy • Cheap • Light • Cannot lift PVC, possibly pencils • Hands/grippers • Complicated • Slipping • Adds another motor • Heavy • Simple stick/rake • Lifts PVC only

  17. Materials • Motors/servos • Online, hobby shops, radio shack, etc. • Switches/wire/etc • Online, radio shack, fry’s, grainger, surplus, etc. • Building material • Balsa - hobby shops • Carbon fiber – hobby shops, arrows

  18. Partial walkthrough

  19. Joints (only a start, this is insufficient)

  20. Links • Comprehensive robot arm design: http://www.societyofrobots.com/robot_arm_tutorial.shtml • Basis for my sample: http://luckylarry.co.uk/arduino-projects/arduino-robot-arm-larryarm-v0-1/

More Related