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Re: pic: Team 73 2007
Quote:
Originally Posted by Ben Piecuch
Greg, can you tell us a bit about your elevator and wrist setup? The elevator looks like a continuous cable pulling on 3 stages. Fabrication seems to be box aluminum with some custom bearings?
The wrist (shown in your previous teaser  ) looks like it's driven off a globe, with a 3 or 4:1 ratio? I'm also assuming that the elbow is powered on a pneumatic, though I can't see anything from the picture.
If you put a little orange on that 'bot, I'd say that you copied our design. Or, if our's was blue, vice-versa! Excellent looking 'bot, I hope to get a chance to watch it this year!
BEN |
Ben you are close... but I will enlighten you further. The elevator is 45mm Bosch extrusion which is a cascading cable system with the first stage driven by chain (there are actually 6 different cable sections which enable driven motion up and down). The end effector has a wrist (yes that was the teaser) driven by a globe motor on a ~3:1 reduction via chain over a dead axle. The 90 deg rotation of the arm upwards is driven by a globe motor directly driving the axle of the gripper. The grabbing mechanism is driven by a pneumatic cylinder completely mounted within the gripper. All in all it gives us 4 axis of motion on the arm and 5 degrees of freedom when you count the drive train.
These are some other photos of the mechanism from a week or so before ship but it will give a better view of the arm.
http://www.team73.org/ideas/2_11_07d.jpg
http://www.team73.org/ideas/2_11_07b.jpg
http://www.team73.org/ideas/2_11_07c.jpg
http://www.team73.org/ideas/2_13_07c.JPG
Last edited by Greg Needel : 22-02-2007 at 11:31.
Reason: figured it was better with the images not imbeded.
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We draw the line when our students are more affectionate towards the tools rather than eachother. - ksafin [more] 
22-02-2007, 11:14
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