Goals

The Arm Design we wanted to achieve would:

• Easily reach all three spiders.
• Contain a transmission that would transmit power to the Grabber Assembly.

Design Process

The design of this section was farily simple. All it required was a simple two stage transmission to get power to the Grabber. At first we wanted to set the sprockets inside the aluminum tubing, but this proved to be too difficult. We had to move the sprockets to the outside of the tubing because there was no way for us to transmit power to the Grabber reliably from the center. The only other design problem in the Lifting Arm Assembly was the question of how to transmit power to the encoder. There was a debate about whether the O-Rings would slip or not. It was proved that as long as it is tight enough, slippage is too minute to affect the robot in a short match.

Features

• Single Window Motor Control
• One Greyhill Encoder
• Uses #25 chain in a two stage transmission. Overall Gear Ratio is 1:9 (In two 1:3 stages).