Vex Robotics Clawbot, Building Instructions

Page 1: ...Clawbot 1 0 1 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS CLAWBOT WITH SENSORS BUILDING INSTRUCTIONS USING THE VEX CORTEX ...

Page 2: ...rew 8 32 x 3 4 Long 12 Nut 8 32 Keps 19 Shaft Spacer Thin 4 6mm 8 Shaft Spacer Thick 8mm 5 Standoff 1 Long 1 Angle Gusset 2 Optical Shaft Encoder 2 8OWUDVRQLF 5DQJHÀQGHU Potentiometer 1 Bump Sensor 1 Limit Switch 1 Ambient Light Sensor 1 Yaw Rate Gyroscope 1 Line Tracker 3 LCD Display 1 Integrated Motor Encoder Kit 1 Allen Wrench 3 32 1 Allen Wrench 5 64 1 Open End Wrench 1 4 1 1 Phillips Screwdri...

Page 3: ...on Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Bumper Sensor 2 x2 x2 x2 3 4 x1 Place screws through the bump sensor and place thin spacers on the opposite side ...

Page 4: ...Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Bumper Sensor continued 2 Front View Attach the bump sensor as shown below Bottom View ...

Page 5: ...egie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 3 Attaching the Ambient Light Sensor x1 x1 x1 3 8 Claw is hidden for visibility purposes Front View Top View ...

Page 6: ...O O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer Remove the arm motor along with the clutch post and shaft coupler To attach the Potentiometer ZH ÀUVW QHHG WR UHYHUVH WKH OHIW C Channel holding the arm Next remove the left bent bar and its screws and nuts ...

Page 7: ...obotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Remove the shaft collar below Attaching the Potentiometer continued 4 This is what the robot should look like after the bar is removed ...

Page 8: ...with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Carefully slide the C Channel off the arm structure Keep the bearing blocks intact Take the metal bar and remove the bearing blocks and rivets Attaching the Potentiometer continued 4 ...

Page 9: ...ystems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Reattach the block on the opposite side of the metal bar Attach the Potentiometer Attaching the Potentiometer continued 4 HHS WKH RWKHU ÁDW EHDULQJ block and 2 rivets We will use it later for the limit switch x1 x1 3 4 x1 ...

Page 10: ... Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Re attach the arm motor along with the clutch post and shaft coupler Attaching the Potentiometer continued 4 Reattach the bent bar we removed earlier ...

Page 11: ...ademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Replace the uppermost shaft of the arm with a longer shaft Attaching the Potentiometer continued 4 Make sure your structure looks like this before moving on ...

Page 12: ...Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued The shaft should be around 4 in length Place a thick spacer on the shaft 4 x1 x1 ...

Page 13: ...STRUCTIONS 4 Attaching the Potentiometer continued Slide the structure back in place Both C Channels should now open to the right Building Tip Potentiometer Range of Motion At this step make sure the arm rotates within the potentiometer s range of motion Forcing the potentiometer beyond its mechanical stops will damage the sensor ...

Page 14: ...ith VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued Screw the screws and nuts shown below back into place Finish by putting on the shaft collar we removed earlier Building Tip Using Shaft Collars g ...

Page 15: ...obotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 4 Attaching the Potentiometer continued Push the arm structure inwards and make sure everything is tight Make sure the arm moves freely ...

Page 16: ...botics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Sonar Sensor 5 x2 x2 x2 3 4 x1 Orthographic view Top down view Much like the bumper sensor start with 2 screws and a spacer ...

Page 17: ... Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Sonar Sensor continued 2 5 Attach the sonar to the front of the robot The side rail is hidden for visibility purposes ...

Page 18: ...otics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 1 Attaching the Limit Switch 6 x2 x2 x2 3 4 x1 Orthographic view Top down view The limit switch is also attached using 2 screws and spacers ...

Page 19: ...cademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Limit Switch continued 6 Place the sensor in between the bent bars on the front of the robot like such Front view from a bottom perspective ...

Page 20: ...T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Limit Switch continued 6 Building Tip Using Pop Rivets x2 x1 Recover the bearing block you saved earlier from the potentiometer build Place it underneath the claw as shown below This will help the claw activate the limit switch 100 of the time ...

Page 21: ...ademy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Line Tracking Sensor Construction x3 7 3 4 x3 x3 x3 Next attach the line tracking sensors Make sure the line trackers are centered on the robot Bottom View ...

Page 22: ...e Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Gyroscope x1 x2 3 4 x2 8 Attach the gyroscope as close to the center as possible Below is the top view ...

Page 23: ... BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS This robot model features 2 options for motor encoder A Attaching the external VEX Quadrature Encoders to the shafts connecting the back wheels to the drive train B Using the Integrated Motor Encoders This guide will show you how to build both A B ...

Page 24: ...OT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder x1 x2 3 8 9 x1 x2 Take an angle gusset and an encoder Connect them together Option A This section covers how to assemble the external Quadrature Encoders If you would like to use the Integrated Motor Encoders skip pages 24 31 ...

Page 25: ...Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 x1 3 4 x1 At the end of the gusset place a screw and a thin spacer as shown below ...

Page 26: ...2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Now do the same for the right encoder x2 3 8 x1 x2 x1 ...

Page 27: ...Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Just like the potentiometer to build the encoders we will need to lengthen the shaft x1 3 4 x1 ...

Page 28: ...Clawbot 1 0 28 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 9 Attaching the Left Encoder continued 5 x1 ...

Page 29: ...ellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 Remove these shaft collars and replace them with 2 thick spacers on each side 5 x1 ...

Page 30: ... Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Left Encoder continued 9 x4 Slide the shaft through the encoder and then place the screws as shown below ...

Page 31: ... 1 0 31 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS 9 Attaching the Left Encoder continued Place the shaft collar back in place ...

Page 32: ... covers using the Integrated Motor Encoders If you built the external Quadrature Encoders then skip pages 32 34 Detailed instructions can be found at http content vexrobotics com docs inventors guide 276 1321 INST 0112 pdf First take out the two motors on the bottom of the robot s drive train This set of instructions to build the 393 Motors with the Integrated Motor Encoder was designed by VEX Rob...

Page 33: ...EX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Integrated Motor Encoders continued 10 Remove the back casing with a 1 Phillips Screwdriver 5HPRYH WKH ÀUVW FOXVWHU JHDU DQG UHSODFH LW ZLWK WKH EODFN ZKLWH HQFRGHU JHDU IURP WKH NLW ...

Page 34: ...ics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the Integrated Motor Encoders continued 10 Place the new motor cap on to the 393 motor as shown Reattach the motors to the drive train ...

Page 35: ...Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the LCD Display 11 x4 x2 x1 3 8 x2 1 Connect the left side of the LCD to the left C Channel ...

Page 36: ...13 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Attaching the LCD Display continued 11 Use a standoff to mount the display on the opposite side ...

Page 37: ...Clawbot 1 0 37 2013 Carnegie Mellon Robotics Academy For use with VEX Robotics Systems RO O R BOT T O B C C C CLAWBOT BUILDING INSTRUCTIONS Your Clawbot with sensors is complete ...