Kinematics and Robotics

filercaliforniaMechanics

Nov 14, 2013 (3 years and 4 months ago)

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Kinematics and Robotics

EGR 352 Project

April 1998


Project Goals


To use the design method stressed
in class


Use kinematics concepts to develop
a mechanism


To explore various kinematics design
issues


Positive reinforcement of material
covered in class


Description


Explore kinematics issues related to
robotics


Develop concepts


Build prototype using one of the
developed concepts


Http://www.claymore.engineer.gvsu.edu/~jamisond/index.html

FOR MORE INFO...

Procedure


Use existing designs to explore
kinematics


kits


Locate a tool which would allow
prototyping


quickly


inexpensively


Construct mechanism

The Walking Robot


Uses a 6000 RPM DC motor


Gear train consisting of crown, spur, and
pinion gears reduces speed


Speed and torque are inversely related


Linear translation and rotation occur at
legs

Power Transmission of Walker

Pneumatic Gripper


Air cylinder used to rotate fingers in
and out


pin joints, pivot points, etc.


Design choices were limited due to pre
-
fabrication


Cylinders used to raise platform


20 degree rotation


worm gear used for possible rotation

Conclusions


Kinematics issues are huge in
robotics


Applications determine power
requirements (pneumatics,
hydraulics, electric motors, etc.)


Usually a wide range of kinematics
mechanisms at work