Robot report presentation slides

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  • Three Legs are Better than Four

    Joseph CaluzaAerospace Engineering

    Daniel KaminskiMechanical Engineering

    Tyler StearsEnvironmental Engineering

  • SDRS

    Tyler Stears

  • But First

    DEPLOY!!!!!!Tyler Stears

  • Tyler Stears

  • Project Objective

    Simplicity: As a team of three, we did not want a risky design.

    Reproducibility: Controlling the robot is kept simple with just two degrees of freedom.

    Exceptional Fabrication: Implementation of Design for Manufacture methods

    Tyler Stears

  • Lock and Load The shim stock component acts as a high-powered spring to

    deploy the robot arm. The small rubber band aids in auxiliary deployment of the arm and deploys the reaping fork.

    Tyler Stears

    Compressed Shim stock

    Stretched small rubber band

    Small rubber band puts fork under tension

  • On Your Marks, Get Set

    Daniel Kaminski

  • .RELEASE!!

    Fork slips out from friction drive shaft when the wheel make a small rotation

    Small rubber band aids the shim stock pin to lock in place

    Decompressing Shim stock

    Fork rotates out of position

    Fork held in place by rubber band

    Shim locks into rear arm notch

    Daniel Kaminski

  • Reapers Deployment

    The shim reverts to its original straight position to release the Reaper.

    Sliding Screw locks into notch in the slide

    Arm Locks into place with linear slider with help of rubber band

    Shim fixed on upper portion of arm

    Notch locks the arm in place

    Rubber band tension holds pin in notch

    Rubber band keeps fork forward

    Daniel Kaminski

  • Parts of the Design Process: Design for Manufacturability


    Universal width to interchange forks

    Clearance Holes

    Rotating WheelFore arm

    Daniel Kaminski

  • Fork Evolution

    Daniel Kaminski

  • Friction Driven

    Joseph Caluza

  • Youll Get a Kick Out of This

    How to get the tree monkeys?

    Get Lifted!!

    Kick slips out and reaper claims ground monkeys

    Get Un


    !Joseph Caluza

  • Wheel Torque Analysis

    Tfriction = A*(umg/A)*r = umg*rTfriction = (0.8)(0.186 kg)(9.81m/s^2)(0.0813m) = 0.119 N*mTfriction needed = F.S. * Tfriction = 1.5 * 0.119 N*m = 0.179 N*mActual Torque Generated = (.75N)*(.235m) = 0.176 N*m

    Motor FBD Friction Normal FBD Wheel FBD

    Mass of robot arm with max load of three monkeys (m) = 0.186 kgRadius of Circle Piece (r) = 3.2 in = 0.0813 mCoefficient of friction of acrylic on acrylic (u) = 0.8Factor of Safety = 1.5 Note: Lubricant reduces coefficient friction value

    Joseph Caluza

  • SDRS in Action

    Scores 60 points max!!Reaping occurs in 20-30 seconds

    Joseph Caluza

    Three Legs are Better than FourSDRS But FirstSlide 4Project ObjectiveLock and LoadOn Your Marks, Get Set.RELEASE!!Reapers DeploymentFork EvolutionFriction DrivenYoull Get a Kick Out of ThisWheel Torque AnalysisSDRS in Action