VEX Grippers Gabrielse凸爪加布里埃尔斯.pptVIP

VEX 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 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 Quickness covers mistakes Quick to grab Drop re-grab Fast Servo gripper Pneumatic gripper Not fast Roller gripper Motor gripper Servo Grip Precise Limited range of motion Limited torque Motorized Grip Can be geared for speed or torque More complex Pneumatic Grip Powerful Reliable Requires entire (unreliable) pneumatics system Roller Grip Slow Allows for misalignment when grabbing Won’t let go Extends object as releasing Simple mechanism Gripper Challenge Lock-Bars Lock-bars allow for any component to be attached to an axle and rotated by a motor or servo. 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 Designing Competitive Manipulators: The Mechanics Strategy by Greg Needel () * J.M. Gabrielse Vex Labs Gridiron Robot Robert’s ARL robot in 2006 FVC Team 31 in 2005 Some robot FVC Team 34 in 2005 Axles fit through the square holes. Bolts fit through the round holes. * J.M. Gabrielse