pic: The Vitruvian Arm - 2630

[AdamHeard]

It appears like your arm has three joints, but that the wrist is chained such that it is always parallel to the shoulder, regardless of the elbow position. If that's the case, clever design, I like it!

[Leav]

Originally Posted by AdamHeard

It appears like your arm has three joints, but that the wrist is chained such that it is always parallel to the shoulder, regardless of the elbow position. If that's the case, clever design, I like it!

the arm does indeed have three joints, which are all actuated at once by a single motor, the gripper is chained parallel to the long section, and the connecting section between the gripper and the long piece is chained "anti-parallel" to the base of the tower (that's what the alpha angle shows).

Glad you like it we've been working hard at it for the last 6 weeks....

[Chris is me]

Wouldn't you get the same effect just bolting the claw to the end of the first joint? It sounds like the other two "cancel out", and I don't get the benefit. (Height?)

[Borisdamole]

Originally Posted by Chris is me

Wouldn't you get the same effect just bolting the claw to the end of the first joint? It sounds like the other two "cancel out", and I don't get the benefit. (Height?)

im guessing its that way because it touches the ground on both sides of the robot. If it was just a single joint the claw would not contact the ground parallel...

[AdamHeard]

Originally Posted by Chris is me

Wouldn't you get the same effect just bolting the claw to the end of the first joint? It sounds like the other two "cancel out", and I don't get the benefit. (Height?)

I would assume it's to contour around the bumper for floor pickup.

[PAR_WIG1350]

1350 built a symmetrical robot last year, except ours had no top and yours has no back. I hope yours works better.

[s_forbes]

Beautiful! The 3-segment, single DOF arm and the hefty tubular elevator are a cool combination. Nice wide gripper, too. Out of the mechanisms shown on CD this year, this is my favorite by far.

Hope to see it up close in St. Louis!

[Leav]

Originally Posted by Chris is me

Wouldn't you get the same effect just bolting the claw to the end of the first joint? It sounds like the other two "cancel out", and I don't get the benefit. (Height?)

Originally Posted by AdamHeard

I would assume it's to contour around the bumper for floor pickup.

That's it the 100% bumper wrap rule and our desire to floor load from both sides were the main reasons for this design.

Originally Posted by s_forbes

Beautiful! The 3-segment, single DOF arm and the hefty tubular elevator are a cool combination. Nice wide gripper, too. Out of the mechanisms shown on CD this year, this is my favorite by far.

Hope to see it up close in St. Louis!

Thanks! I hope you'll be able to as well....


p.s.
here's an animation of the arm, a video is worth at least 24,000 words per second:
http://www.youtube.com/watch?v=wiPMw7SfBkk

[Akash Rastogi]

Your animations on youtube are simply awesome. It's very easy to tell your students must be learning a lot from you. I especially like the animation of the cam driven gripper. Just awesome.

I too hope to see you in St. Louis. Best of luck.