Robot Arm Specification

1.0 Purpose of the Arm

The Arm will be mounted on the top of a mobile wheeled robot ( a roverbot or garbage can style), known as C1BX. The Arm shall allow the robot to achieve its purpose.

1.1 Primary Purpose of C1BX

C1BX's primary purpose will be to be able to pick up a standard large or small foam coffee or tea cup (full) from a counter top or from the floor in the Colonel By Cafeteria, transport the coffee cup to the main office, and set it back on another counter. (preferably on the Principals desk) This shall be completed without any outside assistance.

1.2 Secondary Purpose of C1BX

C1BX's secondary role be to hand out a technology award at the awards assembly or commencement. This consists of being able to navigate from the back of stage to the awards table, using its gripper and arm to accept the award, then hand the award to to the recipient. This shall be completed in a timely fashion without physically touching the robot.

2.0 Type of Arm

The arm is articulated style. There is a base mounted to the top of C1BX which contains most of the drive motors and speed reducers. The shoulder, Elbow and Wrist of the arm rotate about the axis of the shaft which they are mounted. All rotations occur on the same plane.

2.1 Size of Arm

The arm shall be a suitable size to complete the functions of the robot.

3.0 Performance of Arm

3.1 Loads

The arm must be capable of lifting the load of a full large coffee. It must be able to hold this load in a stationary position.

3.2 Speed

The arm must run at a suitable speed in order not to spill the coffee.

3.1 Performance of the wrist.

A wrist must be designed that will grip a Styrofoam coffee cup without crushing it. It is desirable that the gripper can perform other functions. A low mass and balance of the gripper design is important.

4.0 Control Of Arm

The arm will be actuated by three 12 VDC electric gear motors. Each gear motor shall be controlled to go off, forward or backward by DPDT switches connected to a power supply. The gripper shall be controlled by a servomotor. Five volt controller is supplied.

5.0 Desirable Features

It is desirable that there be provision for the installation of future sensors to locate the position of the arm be included.