2021-04-24 Meeting Minutes - Arm - Concept Base Requirements

Owned by
Mathieu Harter (Deactivated)
Last updated: Apr 07, 2023 by
David Choi
1 min read

Defining Constraints

  • 48V electronic motors (ideally)
  • 10kg max payload
  • 360° rotation on axis 1 mechanically, although rotation may be limited by software later to avoid interference. designing for 360 degree just gives us more freedom
  • 4.5 (1.37m) foot vertical range above ground
  • ESTIMATION: chassis height of 12" above the ground (0.3m)
  • Horizontal range ~ 1m

Arm framework decisions

Concept drawings: https://jamboard.google.com/d/1Jx3NyBNadsGU9r_877ugtH8psP3tkL-3kGA6XgaEvCQ/edit?usp=sharing

Joint Configuration

  • 6 DOF arm
  • Linear actuator for 2nd joint

Defining Constraints

  • 48V electronic motors (ideally)
  • 10kg max payload
  • 360° rotation on axis 1 mechanically, although rotation may be limited by software later to avoid interference. designing for 360 degree just gives us more freedom
  • 4.5 (1.37m) foot vertical range above ground
  • ESTIMATION: chassis height of 12" above the ground (0.3m)
  • Horizontal range ~ 1m

Arm framework decisions

Concept drawings: https://jamboard.google.com/d/1Jx3NyBNadsGU9r_877ugtH8psP3tkL-3kGA6XgaEvCQ/edit?usp=sharing

Joint Configuration

  • 6 DOF arm
  • Linear actuator for 2nd joint