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3-Point Pick & Place Mechanism

3-Point Pick & Place Mechanism

Apr 27, 2023

 

  • Introduction

    • Motivations: List common uses of pick-and-place mechanisms

  • Design

    • (picture from proposal)

    • 2D pick and place with an electromagnet end-effector

    • how the mechanism can be made 3-dimensional

    • (schematic)

    • geneva mechanism and thrust bearings

    • (stages of schematic)

    • splitting effort between lower geneva mechanism and upper pick-and-place mechanism

  • Manufacturing

    • access to 3d printing and laser-cutting and ordering process for parts

    • smooth-operation through bearings and track rollers

    • pick-and-place mechanism

      • changed size

    • timing belt wheels

      • tensioning mechanism

    • preventing shafts from slipping

      • press-fits

      • hubs

      • should have used D-shafts

  • Kinematic Analysis

  • Controls

    • initial goal

    • multiple uses of PID control

    • how speed effects controllability of the motor

  • Conclusion