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V E X Grippers (Devices that can attach to objects). Outline. Gripper Theory Control Speed Common Types of Grippers Servo Grip Motorized Grip Pneumatic Grip Roller Grip Challenge Hints Use Lock Bars to attach devices to axles Use an Ultrasonic Ranger to find objects.

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Presentation Transcript
outline
Outline
  • Gripper Theory
    • Control
    • Speed
  • Common Types of Grippers
    • Servo Grip
    • Motorized Grip
    • Pneumatic Grip
    • Roller Grip
  • Challenge
  • Hints
    • Use Lock Bars to attach devices to axles
    • Use an Ultrasonic Ranger to find objects

Vex Labs Gridiron Robot

control
Control
  • Holy grail of gripping:
    • Get object fast
    • Hang on
    • Let go quickly
  • This must be done under excellent control
    • Limit switches
    • Auto-functions
    • Ease of operation
speed
Speed
  • Quickness covers mistakes
    • Quick to grab
    • Drop & re-grab
  • Fast
    • Servo gripper
    • Pneumatic gripper
  • Not fast
    • Roller gripper
    • Motor gripper
servo grip
Servo Grip
  • Precise
  • Limited range of motion
  • Limited torque

Robert’s ARL robot in 2006

motorized grip
Motorized Grip
  • Can be geared for speed or torque
  • More complex

FVC Team 31 in 2005

pneumatic grip
Pneumatic Grip
  • Powerful
  • Reliable
  • Requires entire (unreliable) pneumatics system

Some robot

roller grip
Roller Grip
  • Slow
  • Allows for misalignment when grabbing
  • Won’t let go
  • Extends object as releasing
  • Simple mechanism

FVC Team 34 in 2005

lock bars
Lock-Bars

Lock-bars allow for any component to be attached to an axle and rotated by a motor or servo.

  • Axles fit through the square holes.
  • Bolts fit through the round holes.
ultrasonic range finder
Ultrasonic Range Finder
  • Detect the distance to the nearest object or wall
    • Bounces sound waves off of objects and measures the time it takes sound waves to return
    • The time can be used to calculate distances from 3 cm to 3 m
thanks resources
Thanks/Resources
  • Designing Competitive Manipulators: The Mechanics & Strategy

by Greg Needel (www.robogreg.com)