Junior Design CAD

The base must be level or have the ability to be leveled and mounted above the ground. The base must also serve to move the entire robot as one mobile unit. Specified holes in sections 1 and 3 are to be manufactured to correct size and location.

Rotary axis 1 (RA1) serves as the base and central pivot point for the PAP robot’s arm. RA1 must generate motion in the clockwise and counterclockwise direction; this motion must be approximately 260 degrees if RA1 is central to the S2 area, or 180 degrees if the location of RA1 is on either edge of the S2 area. The torque for RA1 must be supplied from a stepper motor; a gear reduction will then be used to multiply the torque generated by the stepper motor and create the rotary motion for the arm assembly. To minimize the friction force during rotation, a bushing, roller bearing, or a ball bearing will be used.

The second rotary is the pivoting point between the first and second arm of the robot. This link has to, at a minimum, rotate 180 degrees in both the counterclockwise and clockwise directions.

The rotary axis 3 (RA3) is the pivoting point in-between the robot’s second and third arm. RA3 must be able to move 180 degrees in both the clockwise and counterclockwise directions. Team 3 used a decision matrix and voted on these designs.

The autonomous controls subsystem will allow the pick and place robot to perform a designated task independently. In this case the task will be to locate four steel balls from one side of the base, pick up each ball individually, and transfer the balls to designated drop locations on the other side of the base. Since the pick up locations of the balls will vary, all potential designs will require an algorithm to guide the robot through the entirety of the task. Auto stabilization will be implemented, such that the gripper mechanism will remain normal to the base plate at all times. The automated controls subsystem will run through a Arduino Mega 2560 microcontroller board. Each of the four servo motors, the stepper motor, and the sensor used to detect the balls will be wired through the board.



Specs

Autonomous: Arduino Mega 2560 microcontroller board. Each of the four servo motors, the stepper motor, and the sensor used to detect the balls will be wired through the board.

RA1: To minimize the friction force during rotation, a bushing, roller bearing, or a ball bearing will be used.

RA2&3: Same Design, this link will allow the robot’s arm to pivot in order to raise and lower the rest of the arm’s rotation components

Gripper and Self Stabilization: Video available.