Lift Concepts

Four Bar Mechanisms Rotary Jointed Arms Scissor Lifts Telescoping Lifts Combined Systems

Lifts

Scissor Lifts
Overview

Lifts

Unique: no straight support; but rather linked and folding supports stretch platform upwards Powered by hydraulics or motors; bumpy ride Doesnt travel at constant velocity; faster during middle of journey/slower with more extension

Pros

Max height of platform is adjustable Height determined by # and length of linkages Great for straight lifts Requires huge force to start the lift Synchronizing two scissors is difficult Complex design

Cons

Rotary Jointed Arms

Overview

Lifts

Basic principle of human arm: shoulder, elbow, wrist Different types of manipulators (i.e. gripper) can be attached
3 axes of motion: pitch, yaw, roll Can emulate human arm Useful when gripping objects is objective Failure of joint caused by pressure at shoulder and base plate Each joint requires a motor; operated independently Thus, programming is tricky

Pros

Cons

4 Bar Mechanisms
Overview

Lifts

Simple and effective Opposite bars remain parallel, retaining orientation of object Simple, effective Object retains orientation Only one joint to motorize Easily programmed Provides reach

Pros

Cons

Joint may endure heavy pressure Required to lift outside of the box Vulnerable to side hits

Telescoping Lifts
Overview

Lifts

Commonly used within forklifts and cranes Extend in one direction Powered by chain or piston Also referred to as extension lifts
Extends within the box; mechanism protected by base Operates on a relatively uncomplicated system Requires only one power source Multiple segments translate up; higher center of gravity Can become complex

Pros

Cons

Combined Systems
Overview

Lifts

Combining systems can help when one doesnt cut it

Combines the pros from the various lift mechanisms used

Pros

Cons

Can quickly become too complex

Manipulators
Strategy What is being manipulated? Types of Intake Continuous Single Storage Acquisition Zone Placements / Alignments / Accuracy Grip of Object How much friction is needed? Motors and Servos Limits Gear Ratios

Manipulators

Strategy
Find out about the game 2. Make requirements 3. Determine drive train 4. Determine best lift mechanism 5. Determine best manipulator
1.

Manipulators

If robot doesnt drive efficiently, arm and manipulator will be useless. K.I.S.S.

What Is Being Manipulated?

Ball

Manipulators

Continuous and single object grabbers are useful

Types of Manipulators 2 tank treads horizontally / vertically aligned 3 / 4 prong grabber 2 point grabber / fork Bucket intake Roller

Use soft grip to effectively control and contain the ball

What Is Being Manipulated?

Ring

Manipulators

Continuous and single object grabbers are useful

Types of Manipulators 2 tank treads horizontally / vertically aligned 3 / 4 prong grabber 2 point grabber / fork Bucket intake Roller

Use soft grip to effectively control and contain the ring

What Is Being Manipulated?

Manipulators

Square

Continuous and single object grabbers are useful

Types of Manipulators 3 / 4 prong grabber with grip 2 point grabber

Use strong grip to effectively control and contain the square

What Is Being Manipulated?

Manipulators

Triangles

Single object grabbers are useful

Types of Manipulators 3 / 4 point grabber Flat bottom and X shaped intake roller

Use strong grip to effectively control and contain the triangle

Storage of Objects

Manipulators

All items of same size can be similarly stored

Stack Tank treads Divide Dump tank (basket) Simply grab and drop to goal

Storage of Arm & Manipulator

Manipulators

Must be decided with base so arm and manipulator can be stored when
Trying to fit the size Effectively obtain objects

U-shaped base 360 pivot joint (& arm extender) Manipulator attached to base

Acquisition Size

Manipulators

Intake area of the object Large intake area is optimal

During match, easiest and fastest for driver(s) Get multiple objects at once

Keep in mind type of object that will be manipulated

Placements, Alignments, Accuracy

Manipulators

Scoring object on/into goal must be accurate and easy Optimal stability and accuracy during scoring Alignment: know how mechanism works and where it needs to be positioned Drivers should easily be able to work with placement; manipulator should be accurate

Grip of Object & Friction Needed

Manipulators

Why is grip important? Manipulator has to efficiently contain the object How do you obtain grip? Friction

Motors and Servos

Manipulators

Enable arms and manipulators to move

Motors Can turn a shaft CW and CCW as many degrees as desired Used for continuous intake
Servos Can turn a shift CW and CCW, but only 180 in each direction Used for <360 pivot joints

Limits
Types of Stops/Limits Hard stop
Sturdy metal part of robot Physically doesnt allow arm / manipulator to go any

Manipulators

further May burn a clutch / break motor

Soft stop
Limit switches

Limits should be placed anywhere where there is a hard stop

Gear Ratios

Manipulators

Gear the ratio down

Working against a lot of weight 1:2 one shaft revolution = two motor revolutions

Gear the ratio up

Working with less weight and quicker speed 2:1 two shaft revolutions = one motor revolution

Must have enough torque to pull arm and manipulator up and down Must have enough torque to contain object thats being manipulated

THANK YOU!

Beach Cities Robotics Northrop Grumman OCRLC Orange Coast College FIRST VEX, IFI, VRC

CHALLENGE!
Goal: Obelisk Object: Ping Pong Ball

d: 2 in.

24 ft.

3 in.
Objective: Score ping pong balls into obelisk Challenge: Design an arm and manipulator for this task.