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Not simple Design
Here is our 'not simple' goal grabbing design
K.I.S.S. didn't work for us
The linkage collapses to go into a goal (the point allows it to find the area between the goals if we happen to hit a post) then springs back to form the diamond inside of the bars, at this point it is latched in. To release the pressure is now on the bars facing the robot and a latch restricts the outward facing bars from compressing outward. A servo pulls the finger latch out of the way and allows us to release from the goal. It is incedibly strong as you can see from the picture( 3 parallel pieces of Bosch rail capped by six inch x 1/4" aluminum and it telescopes in and out). One of our strategies is that of a dog playing tug of war that almost rips your arm off. We latch on then start driving sideways back and forth (4 wheel crab steer 12 ft/sec) to rotate the goals in your gripper. Non-robust grippers will be bent almost immediately.
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