- Open a review article and choose a flu scheme, modeling complexity - 1 hours;
https://grabcad.com/library/robot-arm-gripper-1
Advantages:
- Self-locking mechanism;
- Good for task to grab a brick;
- Exist giff to see how mechanism can work => better understanding;
Disadvantages:
- Can be slow, need fast motor;
- Chosen scheme structural analysis (pictures in GitHub with explanation) in Support Materials - 2 hours;
- Read support material, to understand: "Theory of Mechanism and Machines (1988) I.I. Artobolevskii" (pages about Structural Analysis and Kinematics) - 5-6 hours
- Kinematics on blank list , now in process in Matlab Coding this kinematics (GitHub in Support Material: Kinematics1 and KinematicsFile.pdf) - 1 hour;
- CAD (download soft - understand how to work with it, watch course: https://www.youtube.com/playlist?list=PL40d7srwyc_Ow4aaOGXlP2idPGwD7ruKg) - 2 hours
- Kinematics not finished (in process of finishing in code) in KinematicsGripper.m - 5 hours
- Meeting with superviser - 0.5 hour;
- II Iteration:
- Finish Kinematics - 6 hours, to make graphs to see dependencies of motor angle and position of one point, in KinematicsGripper.m;
- Calculations, to see which motor I need - 2 hours;
- Dynamics(strength requirements, stopping conditions, fully static, no dynamics, choose lengths for gripper links + read book, already mentioned) - 6 hours, in DynamicsGripper.m;
- To think that without stopping the engine, the mechanism continues to move and how - 0.5 hour;
- Meeting with supervisor - 0.5 hour;
- How to connect to the engine - 2-3 hours
- III Iteration:
- Optimizations in CAD - 5 hours
- CAD model - 15 hours
- Find brick - 0.5 hour
- Meeting with supervisor - 0.5 hour
- Moving points in Kinematics in Matlab - 2 hours
- Changing something in Dynamics.pdf file (check it and change)
- IV Iteration:
- Presentation to supervisor - 0.5
- Meeting with supervisor - 0.5
- Checking the real balance in power - 3-4 hours;
- Learn to drive the engine - 5 hours
- Making model in 3D printer - 8 hours