2DoF In-Plane
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By removing heavy end-effector motors, we made an energy efficient pick&place robot
Motors running at high RPM and low torque, are operating efficiently
The end effector mass is <88 grams, 3x less than if designed for a traditional NEMA 17
Biggest challenges, what I learned, what I'd do different next time
Biggest challenges, what I learned, what I'd do different next time
Biggest challenges:
test
test2
What I learned:
test
test2
What id do different next time:
test
test2
Heres how it came together:
Kinematics & Motion Study:
To control the end effector, we needed the link position and velocity for a desired pose of the end effector
Displacement of end effector
Displacement of link
Velocity of link
Matches kinematic equation:
Gripper Design
Using a single gear ratio, the end effector mass was <88 grams (including the servo). 3x less than an a NEMA 17
Team
From left to right: Aidan Schwartezentruber, Evan Dodd, Adam Stokes, Kostubh Agarwal, Oliver Dong
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