Wright State University Design Constraints Gripper Arm Materials Weights Movements Summary Appendix –Torque Calculations –Robotic Arm Schematic.

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Wright State University Design Constraints Gripper Arm Materials Weights Movements Summary Appendix –Torque Calculations –Robotic Arm Schematic

Wright State University Gripper 3 prong gripper design –greater flexibility –more stable –easier controls 7.5 cm largest dimension of object to be retrieved

Wright State University Arm 1 meter reach 6” maximum dimension of the base –limited to width of doorways Motor-on-joint –smaller base/direct application Counterweight –balanced arm/lower torque

Wright State University Materials Keep assembly to just one material Aluminum –based on high strength to weight density ratios –cost savings –lower torque compared to steel

Wright State University Weights Assembly –30 lb. Maximum wheel chair efficiency Payload –0.5 kg lower cost

Wright State University Movements 5 axis of rotation Maximum speed of linkages to be no more than 28 º/sec or 0.5 m/sec Z Y X Base

Wright State University Constraints Summary One material: 2024 Aluminum 1 meter arm length Maximum base dimension: 6 in Payload: 0.5 kg Largest dimension of object: 7.5 cm Maximum weight of assembly: 30 lb. 5 axis of rotation Maximum speed of linkages: 28 º/sec motor on joint design counterweight design 3 prong gripper design

Wright State University Torque Calculations Appendix

Wright State University Upper ArmJoint 2Lower ArmJoint 3Hand & Object Joint 1 RESPECTIVE WEIGHTS Schematic of Robotic Arm