Gripper System
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Gripper Arm Specifications
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| scheme: |
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grabbing and dropping ringers
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| capacity: |
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one ringer |
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Complete assembly
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Click Picture to view the overall animation of the Gripper System.
The Gripper is controlled by two pneumatic cylinders; the first is stationary and the second is in motion (moved by the first cylinder). The first cylinder closes the gripper partially and the second will move the gripper completely closed. The pneumatics get rid of any motors that would have caused extra weight. It is, by far, the most crucial system on this year's robot.
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The claw opens and closes by two pneumatic cylinders. The upper cylinder partially closes the claw.
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The cylinder is attached to
the upper claw bar and is mounted to
the upper jaw hinge.
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The lower pneumatic cylinder finishes closing the claw to attach to the ringers.
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The lower cylinder is mounted in
place. It remains stationary as it
moves the upper pneumatic cylinder.
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The claw is attached to the gripper system by the gripper hinge. Viewed here is an explosion showing how the hinge is assembled.
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Our team realized that the Gripper may go under a lot of stress due to the possible impact from other robots. As the most exposed sytstem, the gripper system is quick and agile at picking up ringers and putting them on the center rack. We did stress analyses of the gripper to see what kind of impact another team may create. We had the "gripper claw" made out of carbon steel for strength and durability. Viewed here are images of what the gripper may go under at a force of 100 psi.
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The upper claw would have more stress applied under an impact of 100 psi. These analyses are important in showing what impact our most important system would have in the game. The upper claw would have a maximum stress of 2.484e+002 psi. The lower claw, although stationary, would have a possible impact at a maximum of 4.308e+005 psi.
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The piston guard is what keeps the stationary pneumatic cylinder from moving. It is mounted in the middle on the system.
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The pneumatic tube holder is what
keeps the tubing from interfering
with the movement of the system.
It is mounted in the back of the gripper
system.
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The jaw piston connector bracket is the most important manufactured piece on the whole gripper system. It keeps the upper claw mounted to the system and transitions it to move freely by use of the pneumatics.
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The Gripper System is attached to the tower by a single L bracket. It keeps the gripper fixed and stationary in reference to the tower system.
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