Kinematics and Robotics

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Kinematics and Robotics

• EGR 352 Project
• April 1998

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Project Goals

• To use the design method stressed in class
• Use kinematics concepts to develop a mechanism
• To explore various kinematics design issues
• Positive reinforcement of material covered in
  class

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Description

• Explore kinematics issues related to robotics
• Develop concepts
• Build prototype using one of the developed
  concepts

FOR MORE INFO...

• Http//www.claymore.engineer.gvsu.edu/jamisond/in
  dex.html

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Procedure

• Use existing designs to explore kinematics
• kits
• Locate a tool which would allow prototyping
• quickly
• inexpensively
• Construct mechanism

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The Walking Robot

• Uses a 6000 RPM DC motor
• Gear train consisting of crown, spur, and pinion
  gears reduces speed
• Speed and torque are inversely related
• Linear translation and rotation occur at legs

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Power Transmission of Walker
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Pneumatic Gripper

• Air cylinder used to rotate fingers in and out
• pin joints, pivot points, etc.
• Design choices were limited due to
  pre-fabrication
• Cylinders used to raise platform
• 20 degree rotation
• worm gear used for possible rotation

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Conclusions

• Kinematics issues are huge in robotics
• Applications determine power requirements
  (pneumatics, hydraulics, electric motors, etc.)
• Usually a wide range of kinematics mechanisms at
  work