Quote:
Originally Posted by DonRotolo
In 2007 the Rack posts had a 9" diameter disk on the end; with tubes having a 10" ID, many teams decided that a manipulator that gripped the inner diameter of the tube would interfere with placing tubes on the rack. Thus we saw a lot of teams with grippers, and not as many with inner-diameter-grabbers.
Nice photo, thanks. I see what the upper elbow joint is made of, but can you describe the lower elbow joint for me?
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The lengths of the arm are made of the KOP C-Channel rail, and the joints are made of CNC'd aluminum plates that hold both the C-Channel together, and the motors that power the joints.
Our elbow had a yaw powered by 2 motors, so the whole arm could move side to side. It also had 2 Window motors in parallel to raise and lower the arm. At the wrist, we used 2 more Window motors in parallel to raise and lower the grabber, which was actuated with a pneumatic cylinder.
More detailed pictures:
http://aceshigh176.org/gallery2/main...serialNumber=2
http://aceshigh176.org/gallery2/main...serialNumber=1
http://aceshigh176.org/gallery2/main...serialNumber=2
The whole arm assembly has 6 motors if I remember correctly. It was a little overdone I think.
