Quote:
Originally Posted by billbo911
Just out of curiosity, what does this one actuator do? What size and stroke.
The reason I ask is, there is a rule of thumb for using pneumatics. Use them if you can do two or more functions with them. ie. A shifter and a lever etc. Sometimes the weight added isn't worth it if only one function is added.
As with all "rule of thumbs", there are exceptions, such as, it is the best way to do what we need.
If you can leave the compressor off-board, you have fairly well handled the weight issue.
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The actuator rotates our ball manipulator up against the robot to better control the ball. We had designed a built a claw-type manipulator, but weren't happy with ball control, so we've switched to something a bit simpler, but more effective. For it to operate properly with motors, we'd need either a worm or screw drive to prevent stalling the motors for long periods of time.
The pneumatics allow us to quickly control the position of the manipulator and we only have to worry about managing a single pneumatic tube -- since we're planning to vent to atmosphere on the actuator, I think -- along our lift's extension.
Luckily, weight is of little concern to us right now. We've swapped a 17 lbs. claw mechanism for a 4 lbs. manipulator. We're well below our weight restriction.