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X14 Primary Manipulator
IMAGE OF PART, potentially including its place on the relevant ROV
| PART Summary | |
|---|---|
| Vehicle | X14 ROV Sub-Optimal |
| Contributors | Daniel Choi |
Designed to pick up and precisely transport various game pieces constructed from PVC pipe.
What priorities did you have in your design? What design considerations did you have? What methodologies did you follow?
- Diverged from traditionally used quad pincer design since most of the game pieces this year involved horizontal pipes
- Traded vertical pipe handling for wider acquisition area
- Claws slightly overlap to increase grip strength
- Stationary end hub to make it easier to align the mechanism
- Wanted to keep the design simple with only one degree of freedom
- Easy to prototype with and test different designs
The mechanism is attached to a 3D printed mount that has threaded inserts, allowing it to be screwed into the frame
The mechanism is constructed from PLA, stainless steel standoffs, and spring pins. (3D prints allowed for rapid prototyping and testing of different claw designs)
Brainstorm Doc Link Looked at the team’s old manipulator designs and claw designs of existing ROVs (Link)
- Claws had to be remodeled several times because they didn’t grip PVC pipe properly
- Took time to drill out holes for spring pins and the combination of 3D printing and using a hand meant the holes weren’t always the same size
Mechanism had to interface with solenoid box
The claws were only held in place by the spring pins so they sometimes fall off
- Change PM location to not be directly in front of camera
- Add something to end of spring pins so claws don’t fall off
- Make and test different claw configurations to make some of the tasks require less pilot precision
- Any fun side details
Search keywords.
ROV Sub-Optimal has a pneumatically actuated primary manipulator (PM) located on the front of the vehicle to pick up and precisely transport game pieces such as the inter-array power cable, the buoyancy module, and the seagrass. This year, the team opted for a vertical claw design compared to the traditionally used “quad pincer” design since a majority of the game pieces this year involved horizontal pipes. While sacrificing the ability to grasp vertical pipes, the new design allows the manipulator to have a larger acquisition area and to better grasp the game pieces. The mechanism remains simple with only one degree of freedom but uses a stationary end hub to make it easier for the pilot to align the claw with the game pieces.
The primary manipulator was constructed from parts 3D printed with PLA to allow for rapid iteration and well tuned fits. The PM is attached to the frame with a 3D printed mount that uses threaded inserts to minimize the space the mechanism takes up and to allow for convenient replacement.
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