Final Assembly

After assembling the parts from Vertec and those made in-house, the manipulator was finished and added to the chassis of the robot.

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Machining and Fabrication

We’ve started doing more fabrication for the robot, this includes modifying parts on the lathe, building gripper segments out of carbon fiber, creating tapped holes for bolts, building fused deposition modeling inserts, and machining tubes using the CNC mill.


Sheet Metal Parts and Initial Assembly

We received the sheet metal parts from our partner Vertec and have begun physical construction and assembly. One part was not made due to our sponsor’s time constraints and it is being redesigned.


Manipulator CAD Design

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.


Preliminary Kinematic Study

A quick drawing was made to illustrate needed dimensions for the arm and demonstrate compliance with the rules. This was then used to create a more precise model.

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Kinematic Sketch of Arm Motion


Manipulator Decision Matrices

Instead of a single decision matrix the decision was made with two decision matrices because the gripper system in this robot is independent of the system that gives the gripper motion. The top gripper design and the top motion design were then combined.

Decision Matrix


Robot Design Strategy

After the first day the team has completed preliminary brainstorming, presented important rules, and decided that the robot’s design strategy should focus both on being able to pick up and place tubes on the racks and on creating a successful minibot. To accomplish this a new minibot team has been formed so that the manipulator team can focus on the apparatus to pick up and place tubes.

Day 1 Strategies

Day 1 Rules

Day 1 Brainstorming