Prototype 1 - Goals
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