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Unread 23-12-2015, 02:48
KohKohPuffs KohKohPuffs is offline
The one with the punny last name
AKA: Daniel Koh
FRC #0299 (Valkyrie Robotics)
Team Role: Mechanical
 
Join Date: Jun 2015
Rookie Year: 2013
Location: Saratoga, CA
Posts: 121
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Re: pic: Recycle Rush Re-design

Quote:
Originally Posted by DaveL View Post
Nice job!

About picking up the can.
- Is there a 2nd elevator section hiding behind the stack?

- How does the robot grab the bottom of the can?
(elevator pivot or another mechanism)

Dave
Nope, there's only one elevator, and that's exclusive to stacking. Also, the elevator is really short: it can lift up to the second tote level; after all, stacking really only occurs at that level.

To answer the second question, the robot has a four-bar linkage arm powered by 2 BAG motors (okay is there like a thread about BAGs vs. 775s somewhere?). That lowers down and actuates a pneumatic claw to grab the bin. I do not need a pivot for the claw, because the geometry of the four-bar automatically controls the angle of the claw to be horizontal with the ground.
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115 MVRT, Driver (2013-2015)
649 M-SET, CAD (2015-2016)
299 Valkyrie Robotics, Mechanical Director (2016 - present)
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