4 Bar Linkage: Thinking in the Box

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# 4 Bar Linkage: Thinking in the Box - PowerPoint PPT Presentation

4 Bar Linkage: Thinking in the Box. Siri Maley FIRST Team 1640, 28 January 2011. Design Constraints. The 4-Bar Linkage has several states it must geometrically accommodate:. Floor Pickup. Feeder Pickup. Top Score. Low Score. Mid Score.

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## 4 Bar Linkage: Thinking in the Box

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Presentation Transcript
4 Bar Linkage:Thinking in the Box

SiriMaley

FIRST Team 1640, 28 January 2011

Design Constraints

The 4-Bar Linkage has several states it must geometrically accommodate:

Floor Pickup

Feeder Pickup

Top Score

Low Score

Mid Score

In addition to fitting in the starting envelope & not leaving the 84” cylinder

Design Goal

We know this is possible; our issue it optimizing the design.

Optimization Parameters

• Low Weight
• Low CG (don’t tip)
• Low Moment of Inertia, I (be nice to the motor)
• Best “Safe” Configuration (claw/tube near bumper perimeter)
• Quick Pickup & Scoring
• Easy Implementation
• Robust & Maintainable
Design Issue

There are a lot of dimensions to play with…

Solution – Inventor Model4-bar25.iam

How to Move the Parts:

• Jaw – Bimba 4 rod 3:1 mate “JawCylinder” open=-3, closed=0
• Tilt – Bimba 4 rod 3:2 mate “TiltCylinder” tilt=-3, flat=0

Boundaries:

• Starting Box – Clear polycarbonate width & height
• 84” Cylinder – Smoked polycarbonate width
• Feeder Height – Smoked polycarbonate height
Capture Mode

Note: linkage and plate subsequently shortened

Closest to 84”

Also represents “safest” configuration (most within bumper perimeter)

Next Steps
• Z-axis gripper mounting
• 2 arm plates or 1?
• Assembly
• Shafts, bushings, collars, etc?
• Arm drawings
• Test before fiberglass
• Fiberglass attachments