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Robot Arm

Robot Arm. SOSI 2012 Matt Chalker chalker7@gmail.com. Two pre-competition components Robot Arm Documentation Competition Move Items from playing field to ½ gallon milk jugs. Construction Rules . 30 x 30 x 100 cm 14.4 V max Pneumatics must be uncompressed to start

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Robot Arm

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  1. Robot Arm SOSI 2012 Matt Chalker chalker7@gmail.com

  2. Two pre-competition components • Robot Arm • Documentation • Competition • Move Items from playing field to ½ gallon milk jugs

  3. 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

  4. Documentation • Engineering drawings (such as 3-views) showing: • All motors/actuators • All energy sources • All end effectors • Controls

  5. 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

  6. Operating description • Device reaction to every input • Tentative/proposed plan of movement (strategy if there is a specific one)

  7. 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

  8. 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

  9. 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

  10. 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)

  11. Hemispherical/Articulated

  12. SCARA/Crane • http://en.wikipedia.org/wiki/SCARA

  13. Types of Control • Traditional remote • Master/Slave • Preprogrammed

  14. General Tip • Read the rules • KISS • Do not over/design engineer

  15. 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

  16. End Affectors • Electromagnets • Easy • Cheap • Light • Cannot lift PVC, possibly pencils • Hands/grippers • Complicated • Slipping • Adds another motor • Heavy • Simple stick/rake • Lifts PVC only

  17. Materials • Motors/servos • 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

  18. Partial walkthrough

  19. Joints (only a start, this is insufficient)

  20. Links • Comprehensive robot arm design: http://www.societyofrobots.com/robot_arm_tutorial.shtml • Basis for my sample: http://luckylarry.co.uk/arduino-projects/arduino-robot-arm-larryarm-v0-1/

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