1. IOT POLY ENGINEERING I1-1 October 7, 2010 1.In reference to robotics history, what happened during 1961? 2.What is an articulated robot? A robot with at least 3 rotary joints A robotic end-effector is any object attached to the robot flange (wrist) that serves a function. PROBLEM SOLVING DRILL Directions: Write the answers in a complete sentence Unimate, the company Joseph Engleberger and George Devoe, Built the first industrial robot, the PUMA (Programmable Universal Manipulator Arm). 3. What is an end effector?

2. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING ROBOT ARM END EFFECTOR. Challenge Problem: Design a gripping wire snare harness end effector for a robot arm that will grip and snare (hold) a pen or pencil when activated (moved). What gripping wire harness looks like. Robot Arm WITH A PARTNER & THE MATERIALS GIVEN SOLVE THE CHALLENGE HERE IS THE SOLUTION. FOLLOW THE UPCOMING STEPS AS THEY ARE GIVEN!

3. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING Make the End Effector 1. Nest the two cups together and cut through both cups where indicated in the diagram by the dashed line. Smooth the cut edges by scraping them with the picnic knife edge. 2. Cut three 12-centimeter lengths of string. Procedure

4. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING 3. Tape the end of the first string to the side of the inner cup just below the cut edge. Tape the other end of the string to the outside of the cup, but do not press this piece of tape tightly yet. Tape the string loop from the outside of one cup to the inside of the other.

5. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING Tape the string loop from the outside of one cup to the inside of the other. 4. Repeat step 4 twice more, but place the strings about a third of the way (120 degrees) around the cup from the first string.

6. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING 5. While holding the rim of the inner cup, rotate the outer cup until the three strings cross each other. The strings will have some slack. Pull the end of the strings on the outside until they are straight and intersect exactly in the middle of the opening. Press the tape on the outside to hold the strings. Open position.Rotate outer cup. Continue rotating to close snares. The string closes in a manner similar to the way the diaphram on a camera closes.

7. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING Have your partner hold a pencil upright. Open your end effector so that the strings are not crossing each other. Slip the end effector over the pencil. Rotate the outer cup until the strings grasp the pencil. Pick up the pencil.

8. IOT POLY ENGINEERING I1-4 PROBLEM SOLVING In real life, this device is placed over a post like fixture mounted on a satellite. When rotated, the end effector causes the three metal cables to close tightly around the post. Now, the satellite post may be moved however needed to repair the satellite.

9. IOT POLY ENGINEERING I1-2 1. Using your handout of the design process steps place check next the items asked for as they appear on the screen. These are the items that require a response for turning in your design proposal. 1. Next, AFTER YOU GIVE A RESPONSE (not now), draw a line through that design process item. As in the example below. Design Process a. What must your solution accomplish?

10. 1.Recreate the design proposal-LETTER STEPS 1,3,4,6,7&8 2.Include the refinements you documented in Step 7 3.Reminder – design proposal is an explanation of your final design: a.How it works b.Required resources c.Detailed technical drawings d.Steps to make it e.Explanation of how it satisfies all criteria and constraints Communicate the Solution IOT POLY ENGINEERING I1-4 STEP 4 NOW COMPLETE STEP 8(REFINING & LETTERING ALL DESIGN PROCESS STEPS). ALL UNFINISHED WORK MUST BE DONE FOR HOMEWORK.