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Published byCecilia Watkins Modified over 9 years ago
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SOSI 2012 Matt Chalker chalker7@gmail.com
Robot Arm SOSI 2012 Matt Chalker
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Two pre-competition components
Robot Arm Documentation Competition Move Items from playing field to ½ gallon milk jugs
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Construction Rules 30 x 30 x 100 cm 14.4 V max
Pneumatics must be uncompressed to start Remote control (wired, IR, R/C, pneumatic, etc.) or preprogramed Unlimited joints
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Documentation Engineering drawings (such as 3-views) showing:
All motors/actuators All energy sources All end effectors Controls
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List of components Includes every individual component except fasteners Name of component Location/vendor from where the component was purchased 2 or more key properties (weight, dimensions, voltage rating, etc) Energy source (n/a is acceptable) Quantity
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Operating description
Device reaction to every input Tentative/proposed plan of movement (strategy if there is a specific one)
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Competition Event supervisor selects 4 components from their technical documentation Students point them out on the device -1 point for every component missed 5 minutes prep time next 3 minute competition time
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Competition Playing field is 70 x 70 cm Robot arm sits in one corner
Milk jugs around edge Move items from the playing field into milk jugs PVC pipes, Nails, Unsharpened pencils, batteries Various points for putting different
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Scoring/Tiebreakers Certain points for certain items in different jugs
Ping pong ball raised at end of run 0.02 points/1 cm above ground Time is first tie breaker Motors second tie breaker Lowest voltage of batteries is third
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Construction notes Different types of robot arms
Based on degrees of freedom (rotation points) Two major types useful for SO Fully articulated, hemispherical SCARA (crane type)
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Hemispherical/Articulated
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SCARA/Crane
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Types of Control Traditional remote Master/Slave Preprogrammed
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General Tip Read the rules KISS Do not over/design engineer
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General tips Central joint is CRITICAL
Weight at end of arm also important Stiffness everywhere Servos are better than motors More expensive Stronger More precise DPDT switches can reverse DC motors
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End Affectors Electromagnets Hands/grippers Simple stick/rake Easy
Cheap Light Cannot lift PVC, possibly pencils Hands/grippers Complicated Slipping Adds another motor Heavy Simple stick/rake Lifts PVC only
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Materials Motors/servos Switches/wire/etc Building material
Online, hobby shops, radio shack, etc. Switches/wire/etc Online, radio shack, fry’s, grainger, surplus, etc. Building material Balsa - hobby shops Carbon fiber – hobby shops, arrows
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Partial walkthrough
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Joints (only a start, this is insufficient)
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Links Comprehensive robot arm design: Basis for my sample:
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