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

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

Apr 07, 2023

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