Autodesk's VEX Robotics Curriculum. Unit 13: Rotating Joints

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1 Autodesk's VEX Robotics Curriculum Unit 13: Rotating Joints 1

2 Overview In Unit: 13 Rotating Joints, you design a rotating joint to attach an existing gripper to a drivetrain from a previous unit. The emphasis is on design process, application of knowledge from previous units, iterating for integration as necessary, and completing a robot to perform in a challenge. The concepts of rotating joints have a variety of real-world applications. In STEM Connections, you are presented with a series of questions related to rotating joints as used in the moveable rudder on the tail of a small airplane. After completing the Think Phase and Build Phase in Unit 13: Rotating Joint, you will see how object manipulation plays out in the real world. Unit Objectives After completing Unit 13: Rotating Joints, you will be able to: Determine the number of degrees of freedom in a mechanical system and calculate the gearing needed to lift a load using a rotating joint. Analyze the motion of a parallel gripper mechanism in Autodesk Inventor Professional software. Apply the knowledge gained in the Unit 13: Object Manipulation > Think Phase to design and build a rotating joint. Test the designs of drivetrains, rotating joints, and grippers and improve the designs based on performance reviews. Prerequisites and Related Resources Related resources for Unit 13: Rotating Joints are: Unit 1: Introduction to VEX and Robotics Unit 2: Introduction to Autodesk Inventor Unit 4: Microcontroller and Transmitter Overview Unit 5: Speed, Power, Torque, and DC Motors Unit 6: Gears, Chains, and Sprockets Unit 7: Advanced Gears Unit 12: Object Manipulation 2 Autodesk's VEX Robotics Unit 13: Rotating Joints

3 Key Terms and Definitions The following key terms are used in Unit 13: Rotating Joints: Term Definition Degree of Freedom The ability to move in a single independent direction of motion. To be able to move in multiple directions means to have multiple degrees of freedom. Moving up and down is one degree of freedom, moving right and left is another, and the ability to move both up and down and right to left requires two degrees of freedom. Mechanism The arrangement of connected parts in a machine. A gripper mechanism typically consists of an actuator, links, and fingers. Parallel Gripper A gripper mechanism is designed so that the gripper faces are parallel when the mechanism moves together and apart. Rotating Joint A joint in which the axis of rotation is perpendicular to the robot arm. The human elbow illustrates this degree of freedom. Shock Load An instantaneous spike of loading on a mechanical system. Sliding Joint A joint in which the axis of motion is linear. Stall Torque A motor's maximum torque; the torque at which a motor stalls. Twisting Joint A joint in which the axis of rotation is parallel to the robot arm. Twisting the human wrist illustrates this degree of freedom. Required Supplies and Software The following are used in this phase: Supplies Software VEX Classroom Lab Kit Autodesk Inventor Professional 2011 One of the drivetrains built in Unit 9: Drivetrain Design 1 > Build Phase or Unit 10: Drivetrain Design 2 > Build Phase The gripper built in the Unit 12: Object Manipulation > Build Phase Overview 3

4 Supplies Software The robot built in the Unit 13: Rotating Joints > Build Phase Notebook and pen Work surface Small storage container for loose parts Four soda cans Masking tape Measuring tape 8 x 8 of open space One stopwatch Academic Standards The following national academic standards are supported in Unit 13: Rotating Joints. Phase Standard Think Science (NSES) Unifying Concepts and Processes: Change, Constancy, and Measurement; Form and Function Physical Science: Motions and Forces Science and Technology: Abilities of Technological Design Technology (ITEA) 5.8: The Attributes of Design Mathematics (NCTM) Geometry Standard: Use visualization, spatial reasoning, and geometric modeling to solve problems. Measurement: Understand measurable attributes of objects and the units, systems, and processes of measurement. Measurement: Apply appropriate techniques, tools, and formulas to determine measurements. Communication: Communicate mathematical thinking coherently and clearly to peers, teachers, and others. Connections: Recognize and apply mathematics in contexts outside of mathematics. 4 Autodesk's VEX Robotics Unit 13: Rotating Joints

5 Phase Standard Create Science (NSES) Unifying Concepts and Processes: Form and Function Physical Science: Motions and Forces Science and Technology: Abilities of Technological Design Technology (ITEA) 5.8: The Attributes of Design 5.9: Engineering Design 6.12: Use and Maintain Technological Products and Systems Mathematics (NCTM) Numbers and Operations: Understand numbers, ways of representing numbers, relationships among numbers, and number systems. Algebra Standard: Understand patterns, relations, and functions. Geometry Standard: Use visualization, spatial reasoning, and geometric modeling to solve problems. Measurement Standard: Understand measurable attributes of objects and the units, systems, and processes of measurement. Build Science (NSES) Unifying Concepts and Processes: Change, Constancy, and Measurement; Form and Function Physical Science: Motions and Forces Science and Technology: Abilities of Technological Design Technology (ITEA) 5.8: The Attributes of Design 5.9: Engineering Design 6.11: Apply the Design Process Mathematics (NCTM) Measurement: Understand measurable attributes of objects and the units, systems, and processes of measurement. Measurement: Apply appropriate techniques, tools, and formulas to determine measurements. Connections: Recognize and apply mathematics in contexts outside of mathematics. Overview 5

6 Phase Standard Amaze Science (NSES) Unifying Concepts and Processes: Change, Constancy, and Measurement; Form and Function Physical Science: Motions and Forces Science and Technology: Abilities of Technological Design Technology (ITEA) 5.8: The Attributes of Design 5.9: Engineering Design 6.11: Apply the Design Process Mathematics (NCTM) Communication: Communicate mathematical thinking coherently and clearly to peers, teachers, and others. Connections: Recognize and apply mathematics in contexts outside of mathematics. Measurement: Understand measurable attributes of objects and the units, systems, and processes of measurement. Measurement: Apply appropriate techniques, tools, and formulas to determine measurements. 6 Autodesk's VEX Robotics Unit 13: Rotating Joints

7 Think Phase Overview This phase describes characteristics of rotating joints and some basic physical principles that apply to them. Phase Objectives After completing this phase, you will be able to: List the three different types of degrees of freedom. Determine the number of degrees of freedom in a mechanical system. Calculate the gearing needed to lift a load using a rotating joint. Prerequisites and Related Resources Related phase resources are: Unit 5: Speed, Power, Torque, and DC Motors Unit 6: Gears, Chains, and Sprockets Unit 7: Advanced Gears Unit 12: Object Manipulation Required Supplies and Software The following supplies are used in this phase: Supplies Notebook and pen Work surface Think Phase 7

8 Research and Activity A degree of freedom is the ability to move in a single independent direction of motion. To be able to move in multiple directions is to have multiple degrees of freedom. Moving up and down is one degree of freedom; moving right and left is another; and the ability to move up and down and right to left requires two degrees of freedom. The three basic types of degrees of freedom are as follows: The degree of freedom in which a robot's arm can rotate about an axis parallel to the arm. The human wrist has this degree of freedom. Imagine placing your arm straight out in front of you and holding a pencil in your fist so it is parallel to the floor (horizontal). Twist your wrist so that the pencil is pointed straight up at the ceiling (vertical). This twisting is one degree of freedom. The degree of freedom that is a linear movement. In this case, a component of a robot can slide in and out (or up and down or left and right). An elevator shows this linear degree of freedom (moving up and down), as does a common desk drawer (moving in and out). The degree of freedom in which a robot's arm can rotate about an axis perpendicular to the arm. The human elbow illustrates this degree of freedom. This rotating joint is the focus of this unit. As an exercise, see if you can determine how many degrees of freedom the human arm has. Hint: Some of the joints have multiple degrees of freedom. Rotating Joints The joint used most frequently on VEX Robots is the rotating joint. An example of this joint can be seen below. The example above has two rotating joints. It has a shoulder joint and a wrist joint (you often name joints on a robot arm similarly to their position on a human arm). These joints are commonly constructed by locking part of the robot structure onto part of a motion system. In this case, the shoulder joint has an arm locked to the gears of the shoulder gearbox; as the gears turn, the arm turns as well. Similarly, the claw is locked to the gears of the gearbox attached to the arm. Notice that the shoulder joint has a much higher gear reduction than the wrist joint. Why is this? It is because of loading. The shoulder joint needs to lift the weight of the arm, the wrist joint, the claw, and whatever object the claw has picked up. The wrist joint only needs to lift the weight of the claw 8 Autodesk's VEX Robotics Unit 13: Rotating Joints

9 and the object it has grabbed. (The shoulder joint also has a longer lever arm to lift this load with.) Each joint is designed for the loads it sees. Parallel Reductions An example of a double-reduction joint is seen below. This joint has a gear reduction of 12:36 in the first stage, then 12:60 in the second stage. The second stage is attached directly to the robot arm. Notice that the second stage has two gear reductions in parallel. This means that the load is divided evenly over these two reductions. By reducing the load on individual components, the joint is less likely to experience failure (a broken gear and so on). A shock load is an instantaneous spike of loading on a mechanical system. Imagine that you grab the arm of the robot and push down on it as hard as you can in a jerking motion. This action would apply a shock load to the arm gearbox. It is always a good idea to design robot joints robustly enough to withstand these shock loads. Running multiple gear reductions in parallel will spread shock loads and prevent damage. Also notice that the first stage of the gearbox does not use parallel reductions. This is because the load has already been reduced by gearing by the time it reaches this stage in the gearbox; these gears will be under less load. Typically, the stages closest to the motor are under the least load and, therefore, do not need to be as robust as stages further into the gearbox. Think Phase 9

10 Joint Loading As learned in Unit 5: Speed, Power, Torque, and DC Motors and Unit 6: Gears, Chains, and Sprockets, to effectively use a motor, you need to adjust the load applied to it in such a way that it runs within acceptable parameters. If the load applied to the motor is greater than (or equal to) the stall torque of the motor, the motor will stall and the arm will not move. If a force is applied on the end of the robot arm, it will apply a torque on the joint equal to the magnitude of the force multiplied by its distance from the joint. This applied force is partially caused by the weight of the arm itself, as well as any forces the arm encounters during operation (the weight of objects it is lifting and so on). It is sometimes a good idea to add a factor of safety to this force to ensure it can handle any unanticipated loads. A factor of safety is also known as the margin of safety. It describes the amount of overage a system can handle. If your robot needs to pick up 10 lbs., you might design it to pick up 12 lbs. This is a 1.2 factor of safety (10 * 1.2 = 12). This factor of safety will take care of any unexpected loads (anything between 10 and 12 lbs.). Once you have determined the load torque, you may need to use gear reductions to decrease this load before it is applied to the motor. In some cases, a motor will be able to directly drive a joint and handle a load, but this is not common. The motor outputs plenty of power, but it is designed to run with high speed and low torque. You need to regear it to run with high torque and low speed. Applying gearing using the methods learned in Unit 6: Gears, Chains, and Sprockets can put this load in the acceptable range. But what do you need to reduce the load to? A good rule of thumb is to design rotating joints so that the load applied to them is no more than onehalf of the motor's stall torque; however, this is not a hard rule. It is much better to design a motor to experience the least load possible. Joint Speed Often, it is important for a joint to move as quickly as possible. However, this is not always practical. Designing a joint to be too fast may make it uncontrollable without advanced software. The two approaches to choosing the gearing for a rotating joint are described here. Approach 1: Start with Load Determine the applied load on the joint. Decide the maximum load you want to be applied on the motor. (One-half Stall? Less?) Determine the required gearing to achieve this loading. Calculate how fast the joint will move with this gearing. Determine if this is a good speed. If the speed is good, great! Build it! If the speed is too fast, you then must: Determine how fast you want the joint to move. Calculate the gearing required for this speed. (This should be slower than the previous calculated speed.) Build it! 8. If the speed is too slow, you then must: Add additional power to the system so it can carry this load at a faster speed. (Add additional motors to this joint.) Recalculate. 10 Autodesk's VEX Robotics Unit 13: Rotating Joints

11 Approach 2: Start with Speed Determine the speed that you want the joint to move. (90 degrees per second?) Calculate the gearing required to make the arm move at this speed. Decide the maximum load you want applied on the motor. (One-half Stall? Less?) Determine the maximum load that can be applied to the joint, based on this desired motor loading and the gearing determined earlier. 5. Is this load less than what the arm is expected to experience (including a safety factor)? 6. If this load is good, great! Build it. 7. If this load is too low, are you willing to reduce the speed of the joint to accommodate this load? If yes, then recalculate and build it! If no, then add additional power to the system so it can carry more load at this speed (add additional motors to the joint) and then recalculate. Note: Reducing the length of the arm attached to the joint will reduce the amount of torque a given load will apply to the joint. Both of these approaches work well for designing a rotating joint. Each process requires iteration to be successful. Sometimes, you will find yourself redoing work you have already done, in an effort to find a design that works best for your applications. Benchmark Designs Here are two examples of VEX gearing used in rotating joints. Both of these examples use the VEX spur gears; the VEX Chain is not recommended for high-load joints. Medium-speed/medium-load joint (single-stage reduction) Medium-Speed/Medium-Load Joint (Single-Stage Reduction) This joint uses two 12:84 gear reductions in parallel, as shown in the image. This joint spins at a medium speed and is good for picking up medium-sized loads. It can be used well as a wrist or elbow joint in an arm. It can also be used for a shoulder joint in a low-load application. It is easy to modify this joint to make it faster, but difficult to make it slower. To increase the speed of the joint, simply replace the 84-tooth gears with 60-tooth gears and/or replace the 12-tooth gears with 36-tooth gears. Think Phase 11

12 Low-speed/high-load joint (double-stage reduction) Low-Speed/High-Load Joint (Double-Stage Reduction) This joint uses a 12:60 reduction as its initial stage and two 12:60 reductions in parallel as its second stage. This joint moves at a relatively slow speed but can lift a significant load. It works well as a shoulder joint in high-load applications. It is easy to modify this joint to make it either faster or slower. To increase the speed of the joint, replace one stage of 12-tooth gears (either the first stage 12-tooth gear or both of the second stage 12-tooth gears) with 36-tooth gears. To increase it even more, make this change on both stages. To decrease the speed of this joint, replace the 60-tooth gears in the second stage with 84-tooth gears. These are just two examples of the numerous ways to construct rotating joints. To be successful, always maintain the principles and methodology discussed in this unit. 12 Autodesk's VEX Robotics Unit 13: Rotating Joints

13 Create Phase Overview In this phase, you learn about creating an assembly with 2D sketches and 3D models. The objective of the assembly is to analyze the motion of grippers in a parallel gripper mechanism. The completed exercise Phase Objectives After completing this phase, you will be able to: Analyze the motion of a parallel gripper mechanism. Prerequisites and Related Resources Before starting this phase, you must have: A working knowledge of the Windows operating system. Completed Unit 1: Introduction to Vex and Robotics > Getting Started with Autodesk Inventor. Completed Unit 2: Introduction to Autodesk Inventor > Quick Start for Autodesk Inventor. Create Phase 13

14 Technical Overview The following Autodesk Inventor tools are used in this phase: Icon Name Description Rectangle Used to create rectangles by specifying diagonal corners. Each rectangle side is a line segment. Create 2D Sketch Consists of the sketch plane, a coordinate system, 2D curves, and the dimensions and constraints applied to the curves. Point Points can be either sketch points or center points. Click the Center Point tool on the Standard toolbar to switch the point style between sketch point and center (default). In the graphics window, center points appear as crosshair symbols and sketch points appear as dots. Place Specifies one or more files to place as a component in an assembly. Constrain Assembly constraints determine how components in the assembly fit together. As you apply constraints, you remove degrees of freedom, thus restricting the ways components can move. Required Supplies and Software The following software is used in this phase: Software Autodesk Inventor Professional Autodesk's VEX Robotics Unit 13: Rotating Joints

15 Exercise: Model a Parallel Gripper In this exercise, you model a parallel gripper. The objective is to create a layout that simulates the motion and illustrates how the faces of the grippers move together and apart in parallel. 3. Drag edge 1 of the gripper sketch and slowly move it backward and forward. Note the motion of the gripper. 4. Repeat this for edge 2 on the other gripper. The typical workflow in Autodesk Inventor is to create parts and then assemble them. In this exercise, you minimize the modeling required by using 2D sketches with 3D models. The completed exercise Open the File This workflow illustrates how you can use sketches instead of 3D models to solve a design problem. The design team posted the partially complete assembly so that you can finish the design. The sketches represent standard robot parts with work points located every 0.5 inches. These points are Create the Link the hole centers on a flat bar. In this section of the exercise, you create another 1. Make IFI_Unit13.ipj the active project. part and link the two gripper assemblies to show that 2. Open Gripper_Assembly.iam. the faces of the grippers stay parallel as they move together and apart On the Quick Access toolbar, click New. On the English tab, double-click Standard (in).ipt. On the Draw panel, click Rectangle. Create Phase 15

16 4. Create a rectangle. Add 0.5 and 2.5 dimensions as shown. 5. Press EE For Distance, enter Click Flip to change the direction of the extrusion. Click OK. 6. On the Sketch panel, click Create 2D Sketch. 7. Select the top face of the extrusion. 8. On the Draw panel, click Rectangle. 9. Create a rectangle. Add and 2.0 dimensions as shown Press EE For the profile, select inside the rectangle. Under Operation, click Cut. Under Extents, select All from the list. Click OK. Autodesk's VEX Robotics Unit 13: Rotating Joints

17 Add a Slot and Hole to the Link 5. Press E to start the Extrude tool. For the profile, select inside the sketch. Under Operation, click Cut. Under Extents, select All from the list. Click OK. 6. On the Sketch panel, click Create 2D Sketch. 7. Select the face as shown On the ViewCube, click Front. On the Draw panel, click Point. In this section of the exercise, you add a slot and a hole to the link. 1. On the Sketch panel, click Create 2D Sketch Select the face as shown. On the ViewCube, click Front. Create and dimension a sketch as shown. Add a horizontal constraint between the center of the left arc and the left vertical edge of the sketch. Create Phase 17

18 10. Create a center point as shown. Dimension the point and then center it vertically using a horizontal constraint. Add Links to the Assembly In this section of the exercise, you place two links in the gripper assembly If Gripper_Assembly is not active, make it the active window. On the Component panel, click Place. In the Place Component dialog box, select Link.ipt. Click Open. Place two link components in the assembly. Right-click in the graphics window. Click Done. 11. On the ViewCube, click Home. 12. Press H to start the Hole tool. For Diameter, enter Under Termination, select Through All from the list. Click OK. 5. On the Position panel, click Constrain. 6. Under Solution, click Flush. 13. Save the file as Link.ipt. 14. Close the file. 18 Autodesk's VEX Robotics Unit 13: Rotating Joints

19 7. Select the front face of the first link you placed in the assembly. 12. Select the fifth work point on the arm (2). 8. In the browser, expand Link1:1. Click Work Plane Click Apply. 9. Click Apply. 14. Under Type, click Angle. 15. Under Solution, click Directed Angle. 10. Under Solution, click Mate. 11. Select the center of the hole in the link (1). Create Phase 19

20 16. Select the edge of link (1), and the arm (2). Place the Actuator in the Assembly In this section of the exercise, you place the actuator in the assembly and constrain it to the links. 1. On the Component panel, click Place In the Place Component dialog box, select Actuator.ipt. Click Open. Place one component in the assembly. Rightclick in the graphics window. Click Done. 17. In the Place Constraint dialog box, for Angle, enter 270. Click Apply. 18. Using a similar workflow, assemble the second link to Arm1:3 with the following differences: For this link, the back face must be flush to the arm. The offset for the angle is On the Position panel, click Constrain. 5. Under Solution, click Flush. 6. Select the front face of the link. Autodesk's VEX Robotics Unit 13: Rotating Joints

21 7. In the browser, expand Link1:1. Click Work Plane On the Position panel, click Constrain. 13. Click the Transitional tab. 14. Select the face of the pin on the actuator. 8. Click Apply. 9. Under Solution, click Mate. 10. Select the edge of the work plane on the actuator and the edge of the work plane in the center of the link. Click OK. 15. Select the face of the slot on one of the links. 11. Drag the actuator close to the links. Zoom in to the three components. Tip: Make sure the actuator arm and links are positioned as shown. This provides a working solution for the next steps. Create Phase 21

22 16. Click Apply. Drive the Actuator In this section of the exercise, you move the actuator by driving a constraint Repeat this workflow for the second link. Click OK On the ViewCube, click Home. Slowly drag the actuator. The links now move in unison. On the Position panel, click Constrain Under Solution, click Flush. Select the face of the actuator as shown. 6. In the browser, expand Link1:1 > Origin folder. Click XY Plane. 7. Click OK. Autodesk's VEX Robotics Unit 13: Rotating Joints

23 8. In the browser, under Link1:1, right-click the last constraint in the list. It is the flush constraint you created in the previous step. Click Drive Constraint. 9. In the Drive Constraint dialog box: For Start, enter For End, enter 0. Click More to expand the dialog box. For Increment, enter Under Repetitions, click Start/End/Start. For Repetitions, enter 5. Click Forward or Reverse, depending on which is active. 10. Review the motion of the parts. The opposing faces of the grippers remain parallel as the mechanism moves together and apart. 11. Close the drive Constraint dialog box. 12. Save the file. Create Phase 23

24 Build Phase Overview In this phase, you design an arm on a rotating joint, which will attach to the gripper you designed and built in Unit 12: Rotating Joints > Build Phase. You then attach the arm to one of your previously built drivetrains. Phase Objectives After completing this phase, you will be able to: Apply the knowledge gained in the Unit 13: Object Manipulation > Think Phase to design and build a rotating joint. Attach different mechanisms together to create a larger subsystem. Prerequisites and Related Resources Before starting this phase, you must have completed: Unit 13: Rotating Joints > Think Phase. Related phase resources are: Unit 1: Introduction to VEX and Robotics Unit 4: Microcontroller and Transmitter Overview Unit 5: Speed, Power, Torque, and DC Motors Unit 6: Gears, Chains, and Sprockets Unit 7: Advanced Gears Unit 12: Object Manipulation Required Supplies and Software The following supplies are used in this phase: Supplies VEX Classroom Lab Kit One of the drivetrains built in Unit 9: Drivetrain Design 1 > Build Phase or Unit 10: Drivetrain Design 2 > Build Phase The gripper built in the Unit 12: Object Manipulation > Build Phase Notebook and pen 24 Autodesk's VEX Robotics Unit 13: Rotating Joints

25 Supplies Work surface Small storage container for loose parts Optional: Autodesk Inventor Professional 2011 Activity Design a Single-Jointed Arm In this activity, you design a simple, single-jointed arm. You then attach the gripper from the Unit 12: Object Manipulation > Build Phase to the arm. Finally, you mount this arm to one of your previously built drivetrains. In the Amaze Phase for this unit, you will be required to move a stack of three soda cans across the room with this robot. 1. When designing your arm, you need to consider many factors, some of which include: In your notebook, brainstorm the different types of arms that can be used to lift your gripper and soda can. The following image shows an example of the drive assembly for an arm. Build Phase 25

26 What type of gear reduction should be used to make sure it can lift the weight of the gripper and the can? How fast should the arm to rotate? How will the gripper attach to it? How much reach does the arm need? How/where will the arm attach to the drivetrain? Work as professionals in the engineering and design fields by leveraging the power of Autodesk Inventor software to explore potential solutions through the creation and testing of digital prototypes. Note: Come to class prepared to build and test your best ideas! Team members can download a free version of Autodesk Inventor Professional software to use at home by joining the Autodesk Education Community today at Based on your criteria, choose a design and start building! Remember, the challenge in the upcoming Amaze Phase is to move a stack of three soda cans across a room. You may want to modify your gripper or drivetrain so that you can complete this challenge as quickly as possible. Attach your gripper to your completed arm. Mount the entire arm to the chosen drivetrain. For ideas on how to mount the arm, go back to the Unit 3 Build Phase and review how Protobot s arm was mounted to its base. Plug in motors and servos to the appropriate ports in the Microcontroller. Test your arm with a Transmitter to make sure everything is functioning correctly. Move on to the Amaze Phase and get ready for your upcoming challenge! Autodesk's VEX Robotics Unit 13: Rotating Joints

27 Amaze Phase Overview In this phase, you use your robot from Unit 13: Rotating Joints > Build Phase to move a stack of three soda cans across a room as quickly as possible. Phase Objectives After completing this phase, you will be able to: Test the designs of drivetrains, rotating joints, and grippers. Improve designs based on performance reviews. Prerequisites and Related Resources Before starting this phase, you must have: Completed Unit 13: Rotating Joints > Think Phase. Completed Unit 13: Rotating Joints > Build Phase. An assembled single-jointed arm from the Unit 13: Rotating Joints > Build Phase attached to the gripper created in the Unit 12: Object Manipulation > Build Phase that is attached to a drivetrain of your choice. Related phase resources are: Unit 1: Introduction to VEX and Robotics Unit 4: Microcontroller and Transmitter Overview Unit 5: Speed, Power, Torque, and DC Motors Unit 6: Gears, Chains, and Sprockets Unit 7: Advanced Gears Unit 12: Object Manipulation Required Supplies and Software The following supplies are used in this phase: Supplies VEX Classroom Lab Kit The robot built in the Unit 13: Rotating Joints > Build Phase Notebook and pen Amaze Phase 27

28 Supplies 8 x 8 of open space Three soda cans Masking tape Measuring tape One stopwatch Evaluation Soda Can Challenge In this challenge, you attempt to move a stack of three soda cans across a room as quickly as possible. 1. Stack three soda cans on the floor, as shown in Figure 1. Figure Measure 6' from the stack of soda cans. Using the masking tape, place an X' on the floor. This will be your destination target for the cans. Autodesk's VEX Robotics Unit 13: Rotating Joints

29 3. Using your robot, move the three cans to the X.' Your goal is to restack the cans on the X' as fast as possible. See Figure 2. Figure 2 4. Repeat the challenge a few times to try and improve your time. Be sure to record your times in your notebook. While performing the challenge, pay attention to which parts of your robot are functioning well and which parts can use improvement. 5. Engineering Notebook After seeing your robot perform in the challenge, how can you improve its performance? What changes would you make in the following areas: Drivetrain Arm Gripper If you were to repeat the challenge and had to start from scratch, describe the type of robot you would build. If it is the same robot that you already built, explain why. Was this challenge harder or easier than you expected? Presentation Present your robot to the class. Explain why you chose the design you did and how you would improve upon it. Describe the feature of your robot that you feel is most unique. Amaze Phase 29

30 STEM Connections Background Fixed-wing aircraft rely on rotating flaps to guide the plane. These flaps can be found both on the wings and the tail of the plane and can be observed in action if you are sitting in a seat near the wings. Science Fixed-wing aircraft represent humans' best attempt at flight, but the wings of a bird are far superior. 1. What types of joint movement occur during the motion of a bird in flight? 2. How many degrees of freedom does a bird's wing possess? Technology Many believe that the future of aircraft technology is in switchblade plane design, a concept that enables an aircraft to alter wing configuration in midflight to adjust its agility and speed. Some designs adjust each side wing individually, while others pivot the entire wing into a new position. What type of joint movement might be employed to accomplish this wing readjustment, and what kind of joint loading can you envision with this new technology? 30 Autodesk's VEX Robotics Unit 13: Rotating Joints

31 Engineering This unit discussed joint loading and creating a factor of safety for your joints. What factors would you consider when calculating the joint load of an airplane tail flap? What do you suppose is the factor of safety for this joint and how would you calculate it? Math 1. Suppose that you have the double-reduction joint as shown under Parallel Reductions, in the Think Phase in Unit 13: Rotating Joints. What is the overall gear reduction of the whole system? 2. Given that the VEX motors have a stall torque of about 6.5 in-lbs., and you want to stay below 50% of that threshold if possible, try to keep the motor load under 3 in-lbs. Considering the gear ratio of the system, how much torque can the arm apply? 3. How much weight can it lift at a distance of 10 inches from the joint? STEM Connections 31

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