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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
4 Bar Linkage:Thinking in the Box

SiriMaley

FIRST Team 1640, 28 January 2011

design constraints
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
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
Design Issue

There are a lot of dimensions to play with…

solution inventor model 4 bar25 iam
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
  • Linkage – Linkage3-short mates “StartConfig” & “DeployedConfig”

Boundaries:

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

Note: linkage and plate subsequently shortened

closest to 841
Closest to 84”

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

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