tailieunhanh - McGraw-Hill - The Robot Builder's Bonanza Episode 2 Part 3

Tham khảo tài liệu 'mcgraw-hill - the robot builder's bonanza episode 2 part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 406 EXPERIMENTING WITH GRIPPER DESIGNS FIGURE An assortment of girders from an Erector Set toy construction kit. TABLE PARTS LIST FOR TWO-FINGER ERECTOR SET GRIPPER. 2 4 1 2-inch Erector Set girder 1 3 1 2-inch-length Erector Set girder 4 1 2-inch-by-6 32 stove bolts fender washer tooth lock washer nuts Misc 14- to 16-gauge insulated wire ring lugs aircraft cable rubber tabs 1 2 by 1 2-inch corner angle brackets galvanized or from Erector Set You can add pads to the fingers by using the corner braces included in most Erector Set kits and then attaching weather stripping or rubber feet to the brace. The finished gripper should look like the one depicted in Fig. . ADVANCED MODEL NUMBER 1 You can use a readily available plastic toy and convert it into a useful two-pincher gripper for your robot arm. The toy is a plastic extension arm with the pincher claw on one end and a hand gripper on the other see Fig. . To close the pincher you pull on the hand gripper. The contraption is inexpensive usually under 10 and it is available at many toy stores. TWO-PINCHER GRIPPER 407 Gap between finger and pivot bar 1 2 x 6 32 bolt A Fender washer Pivot bar Finger Tooth lock washer Nut FIGURE Hardware assembly detail of the pivot bar and fingers of the two-pincher gripper. a. Assembled sliding joint b. Exploded view. Chop off the gripper three inches below the wrist. You ll cut through an aluminum cable. Now cut off another 1 1 2 inches of tubing just the arm but not the cable. File off the arm tube until it s straight then fashion a 1 1 2-inch length of 3 4-inch-diameter dowel to fit into the rectangular arm. Drill a hole for the cable to go through. The cable is off-centered because it attaches to the pull mechanism in the gripper so allow for this in the hole. Place the cable through the hole push the dowel at least 1 2 inch into the arm and then drill two small mounting holes to keep the dowel in place see Fig. . Use 6 32 by 3 4-inch bolts and nuts to