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- note that DOF in gripper does not include the rotation of the gripper, that is an arm dof
Team | Year | SAR Score | Extreme Retrival Score | Equipment Servicing Mission | Picture | Number of Fingers in gripper | DOF in |
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end effector | Allen Key feature | Other comments | |||||||
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Ryerson Rams Robotics | 2019 | 90 | 77 | 4 | 1 | Not apparent | 4 fingers make it easy to grab rocks They are lacking strength in the wrist | ||
IMPULS | 2019 | 80 | 69 | 2 | 1 | Not apparent | Very rigid stiff | ||
PCz Rover Team | 2019 | 80 | 42 | 2 | 1 | Not apparent | Interchangeable end nubs | ||
Stanford Student Robotics | 2019 | 64 | 57 | 2 | 1 | Not apparent | rubber band in v grove for compliance. | ||
Michigan Mars Rover Team | 2019 | 32 | 54.5 | 2 - one fixed | 1 | Not apparent | no compliance? - didn't score well for extreme retrieval. perhaps it is correlated Arm is very interesting, no fancy links just direct drive through a gearbox. Not very aesthetic though. | ||
Michigan Mars Rover Team | 2020 | 96 | 2 | 2 | Allen key has its own lead screw on the outside of the claw. Might be off center of rotation | No slip ring wires allow a certain number of twists Wire management is also kinda a mess on this bot. | |||
Stanford Student Robotics | 2020 | 94 | 2 | 1 | Allen key coupled with the central lead screw that controls the jaws | Wrist looks like it has no slip ring. Jaws fold back, exposing the allen key, and the axis 6 screws in the screw. Looks like a coaxial axle is used to control both axis 6 and the jaws. They have a very good design. | |||
BRACU University Mongol-Tori | 2020 | 93 | 2 shovels | 1 | Not apparent | Chain driven axis 6 is interesting. piston rod driven gripper is also interesting. Allows for axis six to 'wrap around' it without any issues. A sort of mechanical slip ring. |
Additional Notes:
From other teams it seems strength of gripper is the biggest contributor to performance. the great variation in grippers also suggests also that the performance in each mission is heavily dependent on the performance of the arm and control system. This can be seen from IMPULS' very simple digit claw that has no compliance. compared to Michigan though, they have a cup shape grove which may help slightly
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