Re: pic: 1889 robot design
 

NOT US!!
hehe. I like the frame, it looks solid, i might just have to steal that and put it over my bed so at night i can see good worksmanship =)

Re: pic: 1889 robot design
 

That bot looks solid, just as I had expected from the new tytus+dillard+1889 team.

That arm looks really long does that front piece roll down, or stay in its original position? Just make sure it doesn't go outside that 72" zone or otherwise it'd be bad news.

It'll be fun to see you guys at Florida.

Re: pic: 1889 robot design
 

looks great can't wait to see it in action.... BUT, from how it looks, you may be outside the 72" x 72" zone. Be carefull about that!!!1:ahh:

Re: pic: 1889 robot design
 

Thanks Dan.

The arm deploys at the elbow, once (spring loaded) such that the upper and lower arm sections are co-planar (co-linear in side view). That joint is just to stay within the 48 inch high envelope. The kinematics of the remaining joints use idler sprockets to ground such that the end effector always points in the same direction (into the robot as shown, away from the robot when rotated into position at the front (left in this picture). The gripper fingers (outboard red pieces) are actuated.

We prototyped the arm today; the gripper works better than I had hoped. The remaining kinematics were a little rough because of some prototyping shortcuts we took, but I've used this mechanism before and that's not a concern.

As for the 72 x 72 envelope, it fits in diagonally with Angstroms to spare, thanks to the narrow aft face of the frame which gives us an additional 5 inches of effective length. Besides, I'm sure Woody would let us use it even if it violated the rules; after all, we've put alot of engineering time into it. ;)

Re: pic: 1889 robot design
 

This looks killer. Only thing I notice is that you have a compressor, but no visible pistons (excuse me if I`m wrong). Are you going to have a transmission or something? or is that for the claw...

Also, only thing that concerns me is the battery and compressor in the front. Do you think that might cause CG issues?


Last, if it`s not too much to ask, can we see it with the arm out?

Re: pic: 1889 robot design
 

Those are AndyMark two speed shifters on the robot, I'd assume that is what it is for.

Re: pic: 1889 robot design
 

AndyMark Gen 1's with pneumatic shifter (only one gearbox shown, piston on the far side in this picture. Also pistons to actuate the ramp (not shown, but you can see the clevises in green), and the platform (again not shown).

We have all the power and electronics on the far side plus some of the ramp stuff is skewed that way to balance the battery and compressor. It's a little off center but not much.

I don't have a good picture of the current configuration deployed; I'll try to generate one on Monday