Place pieces in low bucket

[Walker21122008]

The issue will be about how the arm of the robot can lift the specimen(without the clip) to the low bucket and place the specimen in the lower basket.

[Walker21122008]

TapScanner-2024-10-01.pdf Still planning on how to lift the extensions up. So far, got a base on how to design the extensions for turning it and how extending it upwards would help to reach the lower basket more easily. Here is a video regarding it: https://www.youtube.com/watch?v=gvLKQObC_o4

Flexlift Linear System Working Principle Linear slides typically employ a mechanism to convert rotational motion into linear motion. This is often achieved using a belt or string system. The belt or string is wrapped around a pulley or spool, which is then rotated by a motor. As the pulley or spool turns, the belt or string unwinds, causing the sliding element to move linearly along the track.

Parts (for reference):

• REV 15mm Extrusion
• REV UltraHex Motors
• REV UltraPlanetary Gearbox
• REV Timing Belts and Pulleys REV Bearings

Pros:

• This design significantly extends the robot's reach, allowing it to access game elements or scoring areas that would otherwise be out of range. The arm configuration with multiple extensions on each end can potentially provide greater vertical and horizontal reach compared to simpler arm designs.
• With extrusions attached to both ends, the arm structure gains additional stability, which is crucial when manipulating game elements. This increased stability can lead to more precise and controlled movements, especially when lifting and placing objects.
• The multiple extension points help to distribute the weight of the arm and any carried game elements more evenly. This balanced weight distribution can reduce stress on individual components and potentially improve the overall performance of the mechanism.

Cons:

• Implementing an arm with multiple extensions requires advanced design and construction skills. The increased number of moving parts and joints adds complexity to both the mechanical build and the control system.
• Belts or strings can stretch under heavy loads, which could reduce accuracy or even lead to failure over time.
• The additional components needed for this complex arm design may significantly increase the robot's overall weight. This could impact mobility and power consumption, potentially affecting other aspects of the robot's performance.

This would be effectively better since it is faster and more steadier when the block is being lifted to the basket and is released.

[Walker21122008]

Second design Idea planning drawing

[Walker21122008]

I tried to do a TinkerCad model from one of the contest videos and check if it was steady enough. Result: Might make the robot wobble a bit due to the heavy load from the specimen at the end of the arm. Edit: Also been proven that it is not stable enough through a demo demonstration. Here is the picture of the demo:

[Walker21122008]

Third method: Design: This would include a gear. We need to create a 3d design of a thin rectangular block with 30 teeth gear on it. This linear block would be attached to the extrusion and help extend the extrusion upwards easily. The problem with this is that it would only be able to reach up to the first basket and not the second but, it is more effective and there would be less errors.

[Walker21122008]

Spring-assisted retracting arm The arm design features a pivoting structure with a spring-assisted mechanism to facilitate efficient movement and precise control when reaching for the lower basket.

https://www.youtube.com/watch?v=pBavzFxeNc4&t=206s

A key feature of this design is the incorporation of a spring mechanism: The spring is attached to the arm and the robot's frame. It provides an upward force, counteracting the weight of the arm and any game elements it might be carrying. This assistance reduces the load on the motor, allowing for more precise control and potentially faster movements Possible REV robotics parts: HD Hex Motor UltraPlanetary Gearbox 15mm Extrusion C Channels and U Channels Bearings Hex Shafts Control Hub Expansion Hub (if needed) Servo Hub Various hardware (screws, nuts, standoffs) Additional non-REV components: Spring mechanism (e.g., surgical tubing or strong elastic bands) Custom 3D printed or machined parts for spring attachments

This design would definitely fit within the space limit and is more flexible.

[Walker21122008]

Multi Arm Design - Probably the most effective and most efficient https://www.youtube.com/watch?v=ZFWJNlNyxww&t=49s A faster method would be using 2 arms to work simultaneously. This would work by one arm taking the block through the intake process and that would place it in a container section where the first model extrusion arm would be used to raise it to a height and then tip the container to slide the specimen into the basket. This would be more efficient where it would tip some into the container while push the other specimens to the observation zone.

According to the dimensions, This model would help effectively since it would lessen the risk of collisions with the basket and not exceed the height limit by multitasking. Another advantage of this would be that if one of the arms fails in the middle of the game, the other arm would still work and this would prevent the risk of getting eliminated.