Arm Requirements (2021-2022)
Requirements on this page were initially written in 2021 Requirements, but will be further refined on this page.
For those of you who aren't aware with the constraints and criteria requirements method, constrains are limitations to the design that must be met in order for it to operate (generally are quantifiable). Criteria are a list of things the design should have to be successful
Robotic Arm CC's
Constraints | Criteria |
---|---|
The rover must possess a robotic arm capable of performing dexterous operations. List of items that the rover should be prepared to interact with are specified in | Use O-drive motor controllers on arm (Mechanical to look into cooling solutions) |
Robotic arm end effector must be capable of tightening a hex socket head screw | Use BLDC motors on entirety of arm |
Robotic arm must possess X degrees of freedom | Arm joints should mechanically support space to use two encoders per joint (one on motor, one on joint) |
Arm's reach must be capable of picking items up off the ground that the rover is driving on | Arm should have integrated pathing to route wires with more organization |
Arm must have a minimum lifting capacity of 5kg, but 10kg designed lifting capacity | End effector should use a ball head allen key |
Arm must be capable of grabbing and towing a 15mm dia. rope attached to 5kg weight | Try to use zero servos on the arm to eliminate need for arm PCB |
End effector must be able to grasp objects with a 5cm dia. at a minimum | Arm should be __ backdriveable (TBD) |
End effector must have a minimum precision of 4mm (<half keyboard key) | Arm should have easily accessible features to facilitate cable routing |
Arm must have one camera to provide end effector footage for operator | Arm linkages should have simplified connections to make it easy to separate links for independent testing |
Center of mass of arm must be aligned in a manner:
(This will be easier to quantify once the drivetrain/chassis has been established) | |
Weight of the arm must be minimized while maintaining structural integrity (SF of 2* for peak loads on points of failure) (Note: SF of 2 is a very broad engineering guess without prior research. This may be subject to change) | |
Arm must be modularly mounted onto the chassis |