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Vex Robotics Clawbot, Инструкция по сборке

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Clawbot 1.0  

•

 2

© 2013 Carnegie Mellon Robotics Academy  /  For use with VEX

®

 Robotics Systems

RO

O

R BOTT

O

B

CCC

CLAWBOT BUILDING INSTRUCTIONS

1

Collect the parts and tools from the list below to attach the sensors:

Materials 

 

 

   Quantity

Shaft, 

4” 

Long 

   1

Shaft, 

5” 

Long 

   2

Screw, 8-32 x 3/8” Long   

 

9

Screw, 8-32 x 1/2” Long  

 

2

Screw, 8-32 x 3/4” Long  

 

12

Nut, 

8-32 

Keps 

   19

Shaft Spacer, Thin (4.6mm) 

 

8

Shaft Spacer, Thick (8mm) 

 

5

Standoff, 1” Long 

 

 

1

Angle 

Gusset 

   2

Optical Shaft Encoder   

 

2

8OWUDVRQLF5DQJHÀQGHU 

Potentiometer 

   1

Bump 

Sensor 

   1

Limit 

Switch 

   1

Ambient Light Sensor 

 

 

1

Yaw Rate Gyroscope 

 

 

1

Line 

Tracker 

   3

LCD 

Display 

   1

Integrated Motor Encoder Kit 

 

1

Allen Wrench 3/32” 

 

 

1

Allen Wrench 5/64” 

 

 

1

Open End Wrench 1/4”  

 

1

#1 Phillips Screwdriver   

 

1

Pliers 

    1

Hacksaw    1

Note that this robot can only 

be built if you have a standard 

Clawbot already assembled

Содержание Clawbot

Страница 1: ...Clawbot 1 0 1 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS CLAWBOT WITH SENSORS BUILDING INSTRUCTIONS USING THE VEX CORTEX ...

Страница 2: ...rew 8 32 x 3 4 Long 12 Nut 8 32 Keps 19 Shaft Spacer Thin 4 6mm 8 Shaft Spacer Thick 8mm 5 Standoff 1 Long 1 Angle Gusset 2 Optical Shaft Encoder 2 8OWUDVRQLF 5DQJHÀQGHU Potentiometer 1 Bump Sensor 1 Limit Switch 1 Ambient Light Sensor 1 Yaw Rate Gyroscope 1 Line Tracker 3 LCD Display 1 Integrated Motor Encoder Kit 1 Allen Wrench 3 32 1 Allen Wrench 5 64 1 Open End Wrench 1 4 1 1 Phillips Screwdri...

Страница 3: ...on Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Bumper Sensor 2 x2 x2 x2 3 4 x1 Place screws through the bump sensor and place thin spacers on the opposite side ...

Страница 4: ...Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Bumper Sensor continued 2 Front View Attach the bump sensor as shown below Bottom View ...

Страница 5: ...egie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 3 Attaching the Ambient Light Sensor x1 x1 x1 3 8 Claw is hidden for visibility purposes Front View Top View ...

Страница 6: ...O O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer Remove the arm motor along with the clutch post and shaft coupler To attach the Potentiometer ZH ÀUVW QHHG WR UHYHUVH WKH OHIW C Channel holding the arm Next remove the left bent bar and its screws and nuts ...

Страница 7: ...obotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Remove the shaft collar below Attaching the Potentiometer continued 4 This is what the robot should look like after the bar is removed ...

Страница 8: ...with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Carefully slide the C Channel off the arm structure Keep the bearing blocks intact Take the metal bar and remove the bearing blocks and rivets Attaching the Potentiometer continued 4 ...

Страница 9: ...ystems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Reattach the block on the opposite side of the metal bar Attach the Potentiometer Attaching the Potentiometer continued 4 HHS WKH RWKHU ÁDW EHDULQJ block and 2 rivets We will use it later for the limit switch x1 x1 3 4 x1 ...

Страница 10: ... Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Re attach the arm motor along with the clutch post and shaft coupler Attaching the Potentiometer continued 4 Reattach the bent bar we removed earlier ...

Страница 11: ...ademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Replace the uppermost shaft of the arm with a longer shaft Attaching the Potentiometer continued 4 Make sure your structure looks like this before moving on ...

Страница 12: ...Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued The shaft should be around 4 in length Place a thick spacer on the shaft 4 x1 x1 ...

Страница 13: ...STRUCTIONS 4 Attaching the Potentiometer continued Slide the structure back in place Both C Channels should now open to the right Building Tip Potentiometer Range of Motion At this step make sure the arm rotates within the potentiometer s range of motion Forcing the potentiometer beyond its mechanical stops will damage the sensor ...

Страница 14: ...ith VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued Screw the screws and nuts shown below back into place Finish by putting on the shaft collar we removed earlier Building Tip Using Shaft Collars g ...

Страница 15: ...obotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued Push the arm structure inwards and make sure everything is tight Make sure the arm moves freely ...

Страница 16: ...botics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Sonar Sensor 5 x2 x2 x2 3 4 x1 Orthographic view Top down view Much like the bumper sensor start with 2 screws and a spacer ...

Страница 17: ... Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Sonar Sensor continued 2 5 Attach the sonar to the front of the robot The side rail is hidden for visibility purposes ...

Страница 18: ...otics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 1 Attaching the Limit Switch 6 x2 x2 x2 3 4 x1 Orthographic view Top down view The limit switch is also attached using 2 screws and spacers ...

Страница 19: ...cademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Limit Switch continued 6 Place the sensor in between the bent bars on the front of the robot like such Front view from a bottom perspective ...

Страница 20: ...T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Limit Switch continued 6 Building Tip Using Pop Rivets x2 x1 Recover the bearing block you saved earlier from the potentiometer build Place it underneath the claw as shown below This will help the claw activate the limit switch 100 of the time ...

Страница 21: ...ademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Line Tracking Sensor Construction x3 7 3 4 x3 x3 x3 Next attach the line tracking sensors Make sure the line trackers are centered on the robot Bottom View ...

Страница 22: ...e Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Gyroscope x1 x2 3 4 x2 8 Attach the gyroscope as close to the center as possible Below is the top view ...

Страница 23: ... BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS This robot model features 2 options for motor encoder A Attaching the external VEX Quadrature Encoders to the shafts connecting the back wheels to the drive train B Using the Integrated Motor Encoders This guide will show you how to build both A B ...

Страница 24: ...OT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder x1 x2 3 8 9 x1 x2 Take an angle gusset and an encoder Connect them together Option A This section covers how to assemble the external Quadrature Encoders If you would like to use the Integrated Motor Encoders skip pages 24 31 ...

Страница 25: ...Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 x1 3 4 x1 At the end of the gusset place a screw and a thin spacer as shown below ...

Страница 26: ...2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Now do the same for the right encoder x2 3 8 x1 x2 x1 ...

Страница 27: ...Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Just like the potentiometer to build the encoders we will need to lengthen the shaft x1 3 4 x1 ...

Страница 28: ...Clawbot 1 0 28 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 9 Attaching the Left Encoder continued 5 x1 ...

Страница 29: ...ellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Remove these shaft collars and replace them with 2 thick spacers on each side 5 x1 ...

Страница 30: ... Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 x4 Slide the shaft through the encoder and then place the screws as shown below ...

Страница 31: ... 1 0 31 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 9 Attaching the Left Encoder continued Place the shaft collar back in place ...

Страница 32: ... covers using the Integrated Motor Encoders If you built the external Quadrature Encoders then skip pages 32 34 Detailed instructions can be found at http content vexrobotics com docs inventors guide 276 1321 INST 0112 pdf First take out the two motors on the bottom of the robot s drive train This set of instructions to build the 393 Motors with the Integrated Motor Encoder was designed by VEX Rob...

Страница 33: ...EX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Integrated Motor Encoders continued 10 Remove the back casing with a 1 Phillips Screwdriver 5HPRYH WKH ÀUVW FOXVWHU JHDU DQG UHSODFH LW ZLWK WKH EODFN ZKLWH HQFRGHU JHDU IURP WKH NLW ...

Страница 34: ...ics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Integrated Motor Encoders continued 10 Place the new motor cap on to the 393 motor as shown Reattach the motors to the drive train ...

Страница 35: ...Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the LCD Display 11 x4 x2 x1 3 8 x2 1 Connect the left side of the LCD to the left C Channel ...

Страница 36: ...13 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the LCD Display continued 11 Use a standoff to mount the display on the opposite side ...

Страница 37: ...Clawbot 1 0 37 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Your Clawbot with sensors is complete ...

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