Acknowledgement
Special thank you to the Delta Droid team for the entire Delta robot base structure fixtures and components. Their hardware contributions to our project are detailed below and their project is featured in the following link. (http://courses.me.berkeley.edu/ME102B/Past_Proj/s14/group14.mp4)
We aimed to create an original system with our claw design, original code, and a camera vision system for autonomy. Unfortunately, the camera vision was not implemented due to time constraints.
We aimed to create an original system with our claw design, original code, and a camera vision system for autonomy. Unfortunately, the camera vision was not implemented due to time constraints.
Structure & Hardware
Base (as designed by Delta Droid team)
Above: Layout drawing of complete assembly, including both the Delta Droid design as well as claw design.
Claw (as designed by our team)
In order to actually grab and place blocks, the robot needed some sort of mechanism to be added to it. After going through various ideas like a vacuum pump or a crane-like arm, adding a mechanical gripper made the most sense.
The geometry of the gripper allowed it to grab a Jenga block lengthwise (along the 3 inch face), thus allowing the gripper to place the blocks without interfering with other placed blocks. The gripper was operated by a servo that rotated the two gears attached to the claw. Furthermore, the gripper rested on a platform that was attached to the end user through a servo, thus allowing the gripper mechanism as a whole to rotate.
Below is a layout drawing of our gripper.
The geometry of the gripper allowed it to grab a Jenga block lengthwise (along the 3 inch face), thus allowing the gripper to place the blocks without interfering with other placed blocks. The gripper was operated by a servo that rotated the two gears attached to the claw. Furthermore, the gripper rested on a platform that was attached to the end user through a servo, thus allowing the gripper mechanism as a whole to rotate.
Below is a layout drawing of our gripper.