The coupled suction foot of the robot has two degrees freedom. The two
required motions of this suction foot are:
- Adjust the angle of the suction rubber to the surface of contact
- Rotate on axis of the suction cup to change the orientation of the entire robot.
Changing the angle of suction rubber is achieved by changing the angle of
the middle joint which is connected to this joint
via a drive belt. Rotating on the axis of the suction cup
is achieved by mouting a separate motor. These two motions are combined
using three beveled gears in a differential housing.
The figure show the three gears which control the suction foot.
- The upper gear is driven directly by the motor. The lower gear
- The lower gear is connected to the suction foot
- The middle gear connects the upper and lower gears and is also connected
to the middle joint via the drive belt.
The above figure also shows some other components on the robot:
- Microvalve,
- which is located on the lower left corner of the differential housing
- Pump Motor,
- which is located on the lower right corner of the differential housing
- Center Position Sensor,
- which is a potentiometer connected to the shaft of the lower beveled
gear.
Go back to the entire image of the robot.
