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IEEERobotics / bot

Robot code for 2014.
BSD 2-Clause "Simplified" License
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Rubiks cube getting caught after exit. #344

Closed AhmedSamara closed 9 years ago

AhmedSamara commented 9 years ago

image

The power screw can grab and turn it just fine, but after it returns the grip on the mold is so tight that it gets caught in the gripper.

AhmedSamara commented 9 years ago

Actually, it doesn't always go in.

I think this can be solved by sanding/oiling the gripper, but I wanted to check with anyone else before I started tampering with hardware that didn't have backups.

jdekler commented 9 years ago

I believe the best way to deal with these problems is

  1. Sand or file the receiving edges of the turning mechanism into a chamfer or radiused edge so that the Rubik's doesn't catch but instead will slide in.
  2. I believe the reason it isn't working on turning is because last night I moved the gripper assembly over to the left (facing the bot) in order to avoid hitting the gripper stepper motor. I moved it over too far, so the cube isn't fully seated in the corner when it is squeezed by the grippers. To correct this just loosen the screws holding the white arms to the frame and move to the left far enough that the cube is secure but the mechanism doesn't contact the left gripper motor. On Apr 9, 2015 12:19 AM, "Ahmed Samara" notifications@github.com wrote:

Actually, it doesn't always go in.

I think this can be solved by sanding/oiling the gripper, but I wanted to check with anyone else before I started tampering with hardware that didn't have backups.

— Reply to this email directly or view it on GitHub https://github.com/IEEERobotics/bot2014/issues/344#issuecomment-91111642 .

AhmedSamara commented 9 years ago

(This worked not that it ended up mattering).