Quote:
Originally Posted by s_forbes
Cool stuff! Some questions:
- Looks like pneumatic cylinders are being used to offset the weight of the arm, and you switch them from push to pull depending on what side of the robot the arm is on? Clever. (Edit: doh, nevermind, I see you already described it, and should always pull the same way)
- Are those black brackets you use to connect the chain and cable ends off the shelf parts or fabbed?
- What's the mystery material you have lining the edge of your gripper, and how well does it grip? We're still in the hunt for a good material.
- What's with that big metal truncated icosahedron in the background?
Thanks for posting your build, it's fun to follow. |
Correct, the cylinders always 'pull' and thus need no controls. They also provide some nice damping in the arm system and act as the hard-stops.
The chain tensioners are OTS from Team 221:
http://www.team221.com/ Nice product, nice interaction with their salespeople too.
The mystery material is from McMaster, it's a rubber edging material:
http://www.mcmaster.com/#8507k72/=vv663c It has been working "okay" but not spectacularly. We have another style from McMaster to try that has foam gasket on it and some 3M grip tape, similar to what's in the KOP, that 1519 recommended to us that we're going to test.
The aluminum soccer ball, bolted into the mouth of a 3ft tall steel velociraptor, were two plasma-cutting and welding projects for the class we share the shop space with: Industrial Mechanics and Welding.
Glad you like the thread!