Design Constraints Gripper Arm Materials Weights Movements Summary

Design Constraints • • Gripper Arm Materials Weights Movements Summary Appendix – Torque Calculations – Robotic Arm Schematic Wright State University

Gripper • 3 prong gripper design – greater flexibility – more stable – easier controls • 7. 5 cm largest dimension of object to be retrieved Wright State University

Arm • 1 meter reach • 6” maximum dimension of the base – limited to width of doorways • Motor-on-joint – smaller base/direct application • Counterweight – balanced arm/lower torque Wright State University

Materials • Keep assembly to just one material--2024 Aluminum – based on high strength to weight density ratios – cost savings – lower torque compared to steel Wright State University

Weights • Assembly – 30 lb. Maximum • wheel chair efficiency • Payload – 0. 5 kg • lower cost Wright State University

Movements • 5 axis of rotation Base Z X Y • Maximum speed of linkages to be no more than 28 º/sec or 0. 5 m/sec Wright State University

Constraints Summary • One material: 2024 Aluminum • 1 meter arm length • Maximum base dimension: 6 in • Payload: 0. 5 kg • Largest dimension of object: 7. 5 cm • Maximum weight of assembly: 30 lb. • 5 axis of rotation • Maximum speed of linkages: 28 º/sec • motor on joint design • counterweight design • 3 prong gripper design Wright State University

Appendix Torque Calculations Wright State University

Schematic of Robotic Arm Joint 1 Upper Arm Joint 2 Lower Arm Joint 3 Hand & Object RESPECTIVE WEIGHTS Wright State University