Long Reach Robotic Arm Amanda Hoeksema Brenda Sanchez

Long Reach Robotic Arm Amanda Hoeksema & Brenda Sanchez Under the mentorship of Kris Anderson AD Robotics Initiative - CCI 5 August 2020

Long Reach Robotic Arm Problem • Quadrupole magnets frequent failure – Water leaks • Critical systems around the magnets that need access – Tight space of components make it difficult to view Solution • • 2 Long robotic arm with many joints to extend and reach around components Camera attached at the arm’s end 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI

Long Reach Robotic Arm Design - Split in Two • • The Arm – Control certain links of the arm – Move direction X, Y, & Z while avoiding components • “Snake” around obstructions – Compact design for mobility 3 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI The Base/Counterweight – Needs to support the extended long arm – Large enough to provide stability but not consume too much space in small tunnel

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Coding Program For Robot 5 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI

Code for Robot Libraries used 6 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI

Scaling Scales window height & width to pixels 7 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Scaling Tunnel width and height (Inches) Setting variable to zero Scaling & converting inches to pixels 8 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Scaling & converting inches to pixels Center of Base 9 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Moves arm link Key Events Stops movement 10 8/5/20 Amanda Hoeksema | AD ROBOTICS CCI

Scales link Link Info 11 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Link Info Sets line angle 12 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Link Info Sets line endpoint 13 8/5/20 Amanda Hoeksema | AD ROBOTICS CCI

Rendering the Tunnel 14 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

R, G, B, Opacity Rendering the Tunnel 15 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Set Location Rendering the Tunnel 16 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Draw to Screen Rendering the Tunnel 17 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

NX CAD Robot Design 18 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI

Long Reach Robotic Arm Rotating arm links Counterweight system Representative base 19 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI

Robot Arm Assembly 20 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Robot Arm Links 18 20 24 28 28 21 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Joint Assembly- Closer View 22 8/5/20 Brenda Sanchez | AD ROBOTICS CCI

Joint Assembly- How it Works 23 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All red parts are 3 D printed

Joint Assembly- How it Works NEMA 23 Stepper Motors 24 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All red parts are 3 D printed

Joint Assembly- How it Works NEMA 23 Stepper Motors 25 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All red parts are 3 D printed Motor Pulley

Joint Assembly- How it Works *All red parts are 3 D printed Timing Belt NEMA 23 Stepper Motors 26 8/5/20 Brenda Sanchez | AD ROBOTICS CCI Motor Pulley

Joint Assembly- How it Works 7” - length hex head threaded bolt 27 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All red parts are 3 D printed

Joint Assembly- How it Works 7” - length hex head threaded bolt 28 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All red parts are 3 D printed Jam Nuts

Go. Pro Camera Mount 29 8/5/20 Brenda Sanchez | AD ROBOTICS CCI *All blue parts are 3 D printed

The Counterweight Design 30 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Counterweight Full Assembly 31 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI *All red parts are 3 D printed

Counterweight Side view Back view Front view *All red parts are 3 D printed 32 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Counterweight Iteration *All red parts are 3 D printed Design 1: insufficient support for weight Design 2: limited horizontal movement 33 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Counterweight Assembly *All red parts are 3 D printed 110 lbs steel counterweight 80/20 support 34 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Counterweight Assembly *All red parts are 3 D printed Push/pull support Sliding counterweight platform 35 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

*All red parts are 3 D printed Counterweight Assembly Bearing rollers Rails 36 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

*All red parts are 3 D printed Counterweight Assembly Idler pulley Belt NEMA 23 Stepper Motor Pulley 37 8/5/20 Amanda Hoeksema| AD ROBOTICS CCI

Thank you for attending our presentation! Any questions? 38 8/5/20 Amanda Hoeksema & Brenda Sanchez| AD ROBOTICS CCI