|
The chiaphuas are in a gearbox with the worm gears, and they drive the manipulators which orient the boxes. It's hard to see in the picture, so let me explain the manipulators. One side swings to contact the low side of a crate, and the other swings to contact the high side of the crate. The one which contacts the high side has a rubber wheel (off a roller blade I believe) which through empirical testing helped us flip crates. We re-designed the manipulator 2 nights before ship day to be made out of lexan so that it could bend and touch the boxes at a higher position to generate more torque, but still start off low enough to go under the bar. The manipulators allow us (hopefully) to rotate crates around so we can pick them up, and also to bat crates against the wall or field barrier where we want them.
Stephen
|