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Post by Devonator on Dec 5, 2012 4:22:33 GMT -5
Requirements- Range of motion: ?
- Length: 100-120 cm radius from chassis mounting point (“shoulderâ€)
- 5 lb lifting capability at full arm extension
- Horizontal range from shoulder: +/- 45 degrees from forward position
- Max reachable height: doesn’t seem too important at this point?
- Min reachable height: Do we need to be able to reach the floor?
- Can reach objects 15 cm past edge of counter or similar surface
- Infinite wrist rotation (see note below)
- What object manipulation capabilities? Turning/tipping/throwing/shaking/etc? Arm approach and grip orientation?
- Desired objects & interactions:
- “Fist-size†solid objects (e.g. bottle, bowl, handle)
- Paper
- Utensils (e.g. pen/pencil, forks)
- Can push buttons
- Can flip switches
[/b] [li]Mech designed for infinite rotation [/li][li] Motor controller board designed for finite rotation [/li][li] [/li][/ul] [/b] [li] Redesign electrical for RF communication and embedded controller in hand/wrist [/li][/ul] Concepts- Claw (load bearing)
- Small claw (for manipulation)
- Jammer
- Suction grip
- Single arm mounted front-center
- Dual arms mounted approximately at shoulder positions
- One arm with high load capacity and other for greater dexterity
- Interchangeable end effectors (switch executed autonomously, stored onboard)
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