The design was CADed based upon the dimensions used for the kinematic sketch and designed to be built almost entirely from sheet metal. Four motors were used (types/quantities of motors and gearing was decided upon using CG data supplied by CAD software after inputing material properties for all constituents). Two BaneBots 700 series 18 V motors power the shoulder, each with a 256:1 gearbox and further 6:1 chain reduction to the axle. One BaneBots 550 motor powers the elbow joint via belts, and the fourth motor, a Banebots 395, powers the gripper via a series of belts.
The gripper design hasn’t been decided yet, it is very modular and various designs will be tested in gameplay.
Each structural component was stress tested under their maximum theoretical load (from gravity) plus 5x to account for robot motion and collisions. Greatest predicted deformation was less than .1 inches for any part.
