Sketch Review Page: Concept generation

Austin:

• uses second stage belt reductions mainly everywhere

• for the base uses cycloid

• has a bit past 180 degree rotation a the base

• get the arm to go back to 300 degrees

• mentioned 300pound limit for the linear actuator

• use belt to rotate the arm as well

• can move up and down about 4.5 feet

Mathieu:

Concept 1

• uses cycloid base

• uses linear actuator rotate link connected to axis 2

• double end effector design, with allen key and claw shifted 90 degreesseveral designs

Concept 2

• cycloids on pretty much all joints, with allen key fixed inside claw

Concept 3 - SKELETOR

• uses extra links attached on all joints to keep part of axis 4 parallel to ground at all times

• Differential drive is used to rotate the claw up and down

• In theory would have a greater lifting strength than it's alternatives

Ethan:

• 3 coaxial shafts (sheathed) are used to power axis 4,5 and 6

• concentric hypoid gears are powered by separate shafts to move axis 5 and 6 (complex gearing)

Ali

• planetary gear box for axis 1 (the base)

• for axis 3 for the linear actuator, if you place it inside it gives you more working area

• for axis 4 use belt ride

• for axis 5 use harmonic drive 

Medina

• use a gear for the base

• use belt drive for joint 5 and joint 6

Things to further decide:

• will we have a screw driver built into the claw or

• make it so that the robot picks up a screw driver

  • pick it up from the chassis somewhere specified

  • pick it up of the ground?

Final Decisions: