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 And I have to say, those days where you are just beating yourself, and smacking your head against the wall, and you just wish the robot would catch fire so you could go home, make the top of the mountain that much sweeter. - Gboehm [more] |
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#18
08-04-2007, 09:20
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Re: Arms
Our arm this year uses a single joint to reach middle and low and an elevator to reach high. It is powered by two Keyang window motors.
The grabber itself is powered by a 3.5" stroke cylinder. General advices we could give from our experience with this season are: 1) try to keep the number of degrees of freedom to a minimum. The more joints you have, the harder it gets to control. 2) Grabbing should just be a matter of opening and closing the gripper. Getting over/under the ringer wastes a considerable amount of time (as we experienced with our initial gripper design, used at great lakes). The best grippers just have one side of the claw rest on the outer edge of the ringer and the other side of the claw close on the inner edge of the ringer (cf. 1114) Francois. |
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