| |
In lugnet.robotics.rcx, Elizabeth Mabrey wrote:
| |
Hi,
I am trying to look for a few lego end effectors configuration. I got the
one from CMU’s robotics educator. Suggestion will be greatly appreciated.
--thanks
|
Do you mean robot hands? If so, try the one from my robot:
http://www.brickshelf.com/cgi-bin/gallery.cgi?f=82738
It’s actuated with pneumatics at the moment but the two 24mm pulleys have bevel
gears linking them, to keep the fingers synchronised, so you could use a motor
and low gearing to power it from an RCX instead. The fingers use parallelograms
to stay parallel with each other, so that they can grip any amount of the
object. In this case the object is a 2x10 brick, held vertically (11.2mm
thick).
The actual grippers are rubber tyres from 12V train motors, though wide rubber
bands would do.
In this robot, the gripper cylinders are in parallel with two cylinders that
move a much bigger load, that of a bank of 5 switch valves on the back of the
robot. Therefore the gripper moves before the bank of switches.
There’s also a diagram of the pneumatic circuit in the folder.
Mark
|
|
Message is in Reply To:
2 Messages in This Thread:
  
- Entire Thread on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
|
|
|
|
