Prototype 1 - Goals
May 15, 2021
Previous End Effector
Pros | Cons |
|---|---|
Light weight | No compliant rubberization on end effector |
Low cost | Jank allen key fixture |
rigid | long (higher arm torque requirements) |
easy to manufacture | Lots of components |
Works (actuation) | Doesn't work (gripping) |
| Brushed DC |
|
|
Goals
Verify torque calculations
test gripper ability of a adaptable gripper
test various compliant materials (polyurethane grip pads)
Test feasibility of using entirely laser-cut pieces and welding (no 3d prints or milled components)
Reduce the weight of the mechanism (-minus weight of placeholder FRC motor)
Reduce the extended length of the mechanism (reduce moment as much as possible)
Get a better understanding of motor requirements for future motor selection
include better allen key fixture
ignore rigidity requirements for prototype 1
ignore backlash requirements for prototype 1
Plan
Design sheet metal parts to laser cut
use simple screws as clevis pins (for cost and simplicity)
heavy use of shims during assembly to reduce tolerance requirements
cut the peices out
assemble and weld the peices in house
document feasibility of welding
document pros and flaws in the current prototype, iterate