mechanisms paul ventimiglia wpi student, team 190
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Mechanisms
Paul Ventimiglia
WPI Student, Team 190
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OverviewManipulating Game Objects
Collection Systems Intake RollersConveyorsClawsFixed, passive
devices
Positioning MethodsArms (rotating)Telescoping lifts4-bar
mechanisms
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Look at your object!
Answer these questions first Is it heavy?Does it take up a large space? Is it fragile?Does the orientation matter?Where is it? (floor, platform, human player)
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Intake Rollers
Rotating cylinders designed to contact and move your game object
Commonly used to pick up balls from the floor
Horizontal or vertical
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Intake Rollers
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Intake Rollers
Advantages Lightweight Pickup multiple
objects quickly Large room for driver
error Simple
Few parts to break
Disadvantages Works best for balls Conveyors difficult to
stay on reliably Can cause jamming Requires chassis
space near floor
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Conveyors
Effective with rollers at picking up and MOVING objects
A flat, wide, moving belt
Series of smaller belts in parallel
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Examples
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ClawsAppendages which open and close to grasp onto an object
“fingers” rotating to close around an object
“fingers” move towards each other to clamp onto an object
Any orientation, can pick up almost everything
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Claws
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Claws
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Claws
Advantages Lightweight Grab very large
objects Grab strangely
shaped objects Easiest to build
without machine tools
Disadvantages Work best with
pneumatics Take up large
volume often Require good drivers
and careful positioning
Only pick up one object at a time
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Examples
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Fixed Devices
KISS!
A simply shaped device that interacts with the object
Useful only if object has something to grasp onto
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Fixed Devices
Advantages Lightweight!
More weight to make other parts work better
Reliable No moving parts break
Cheapest and easiest to manufacture
Disadvantages Only work with certain
objects Limited ability
Relies upon skill of driver and specific setups
No room for adaptability in a match
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Arms (rotational lift)
Consist of one or more points of rotation
Manipulator on the end of an arm
Versatile and effective
Lift objects high simply
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Arms (rotational lift)
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Shoulder Joint
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Adding a Wrist
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Arms (rotational lift)
Advantages Mechanically reliable for
most heights A shoulder and wrist
provide excellent control Can reach over robots
and still fold up Multiple functions Can be built simply!
Capstans Sprocket and chain
Disadvantages Requires high
strength parts Can raise CG too
high Must fit into starting
size limit Can require careful
strategy not to hurt other robots
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Examples
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Telescoping
Sliding sections that move linearly
Mostly powered by a winch pulling on a cable
Similar to the front of a forklift
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(images from Greg Needel’s presentation on the FIRST
website)
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Telescoping
Advantages Able to extend very
far with little space consumed
Stable linear path Less for driver to
think about Simply powered by a
winch
Disadvantages Jamming, they jam,
and jamming too. Hard to repair Require being stored
in a long straight area
Do not handle bending loads well
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Examples
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4-Bar linkages
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(images from Greg Needel’s presentation on the FIRST website)
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4-Bar (rotational lift)
Advantages Controls orientation
of arm and object Complex motion
from a simple input Simple to implement
Disadvantages Limited range of
motion More moving parts Over center toggling Certain links can
require lots of torque
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Design SelectionHow high does the object need to be lifted? Arm with 1 joint vs. elevator with 1 section, etc
Does the robot need to fit under an obstacle? Arm folded down vs. telescoping arm with a pivot
How much weight and space is there for it? A conveyor system blocks half the robot vs. must
weigh less than 10lbs and lift 10ft high
Prioritize first!
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Materials
SteelAxles, pins, bolts
AluminumStructural shapes, plates, axles
PlasticsLighter parts, complex shapes, covers
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Transmission
Sprockets and chain#25, #35
Gears~20 pitch to ~12 pitch
Urethane round belts
Timing belts and timing pulleys
Capstans
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Vendors
Mcmaster.com All transmission
parts and materials
Onlinemetals.com Aluminum structural
Sdp-si.com transmission
Banebots.com Gearboxes
Robotmarketplace.com Gearboxes
Home Depot Small amounts of
aluminum tubing
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Questions?
(super excited about mechanism building)