Quote:
Originally Posted by HarveyAce
If the height of the base frame is 12'', and we have a 38'' vertical structure from which to put our four bar structure, how long should the four bars be if we want to reach the top rack? here's a diagram of what i am thinking of in the attachment. ive been trying to crunch the numbers but i can't seem to come up with it...
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This is very rough but..
top peg= 110ish inches
tilting the tube virtical 110-15= 95 in
pivoting on claw= 95-15= 80 in
four bar actuation 80/2= 40 in
assuming four bar set back 25"= sq.rt. (40^2+ 25^2)= aprox 47 in
but now the four bar is right on the outside of the robot, to compinsate for the pivoting claw minus part extruding from frame must move tower back.
15-8=9 25+9= 34 in
add bumped height 40+7=47 in
In summery: with a 47 inch four bar linkage 34 inches into the robot and 47 inches up plus a 9 inch adjustable arm plus an 8 inch claw sticking out of that when the four bar is fully up and the adjustable arm is up holding the tube virtically you will be able to score on the middle top row. (the highest)
These are just rough though, I suggest that you redo the calculations for yourself.