{"id":630,"date":"2023-05-02T18:48:09","date_gmt":"2023-05-02T18:48:09","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/?page_id=630"},"modified":"2023-05-04T06:34:19","modified_gmt":"2023-05-04T06:34:19","slug":"drawings-schematics","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/drawings-schematics\/","title":{"rendered":"Drawings & Schematics"},"content":{"rendered":"\n

End-Effector Drawing<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

Mechanical Parts<\/h2>\n\n\n\n
Name <\/th>Qty.<\/th>Purpose<\/th>Image<\/th><\/tr><\/thead>
Dynamixel MX-64<\/td>1<\/td>Torque Applying Motor for the Cutting Mechanism<\/td>\"\"<\/td><\/tr>
Dynamixel MX-28<\/td>1<\/td>Torque Applying Motor for the Gripping Mechanism<\/td>\"\"<\/td><\/tr>
Dynamixel MX-64 Servo Horn Couple<\/td>1<\/td>Affixed to the MX-64 Servo Horn<\/td>\"\"<\/td><\/tr>
Dynamixel MX-28 Servo Horn Couple<\/td>1<\/td>Affixed to the MX-28 Servo Horn<\/td>\"\"<\/td><\/tr>
M2x6mm Set Screw<\/td>12<\/td>Circumference Affixing Screw for Servo Horn Couples<\/td>\"\"<\/td><\/tr>
M3x6mm Set Screw<\/td>2<\/td>Affixing Screw for Servo Horn <\/td>\"\"<\/td><\/tr>
MX-64 Spacer Plate<\/td>1<\/td>Isolating Plate for the Cutting Module<\/td>\"\"<\/td><\/tr>
MX-28 Spacer Plate<\/td>1<\/td>Isolating Plate for the Gripping Module<\/td>\"\"<\/td><\/tr>
MX-64 Base Plate<\/td>1<\/td>Housing Unit for the Cutting Unit<\/td>\"\"<\/td><\/tr>
MX-28 Base Plate<\/td>1<\/td>Housing Unit for the Gripping Unit<\/td>\"\"<\/td><\/tr>
TPU Gripper Pads<\/td>1<\/td>Compliant Spacing for Gripping Links<\/td>\"\"<\/td><\/tr>
Extreme-Traction Abrasive Antislip TapeSquare, 5-1\/2″ Wide x 5-1\/2″ Long<\/td>1<\/td>Increase frictional forces while gripping to reduce slipping<\/td>\"\"<\/td><\/tr>
Unactuated Link<\/td>4<\/td>Grounded Link that Dictated Stroke and Force Transmission Along the transverse axis of the End-Effector<\/td>\"\"<\/td><\/tr>
Cutting Link<\/td>2<\/td>Blade Holder and Floating Link of the 4-bar mechanism<\/td>\"\"<\/td><\/tr>
Dewalt Bi-Metal Utility Blade<\/td>2<\/td>Cutting Blade for Gripping Links: Sharpened to Lower Blade Angle for Better Cutting Performance<\/td>\"\"<\/td><\/tr>
Gripping Links<\/td>2<\/td>Links Used to Grasp Peduncles<\/td>\"\"<\/td><\/tr>
Realsense D435 Mount<\/td>1<\/td>Static Mounting Piece to Rigidly Attach Realsense D435i to End-Effector<\/td>\"\"<\/td><\/tr>
Spur Gear Links<\/td>1 (of each)<\/td>Acts as the coupler links for the 4-bar mechanism. Two separate gears are required to allow for proper alignment of teeth<\/td>\"\"\"\"<\/td><\/tr>
M2.5 Heat Sink<\/td>8<\/td>Used as a nut in affixing base plates and spacer motors to the base-plate<\/td>\"\"<\/td><\/tr>
M6x10 Heat Sink<\/td>1<\/td>Used as a nut in affixing base plates and spacer plates <\/td>\"\"<\/td><\/tr>
Brass Tubing3.5 mm OD, 0.225 mm Wall Thickness, 3 mm ID<\/td>10<\/td>Placed in all M3 link through holes to reduce friction with M3 Screw<\/td>\"\"<\/td><\/tr>
316 Stainless Steel Dowel Pin 6mm Diameter, 12mm Long<\/td>4<\/td>Shaft Placed in the Blind Holes of the Base Plates and Spacer Plates and within the Geared Links<\/td>\"\"<\/td><\/tr>
18-8 Stainless Steel Socket Head Screw, M2.5 x 0.45 mm Thread, 10 mm Long<\/td>8<\/td>Affixed Motors to Base-Plate via the M2.5 Heat Sink<\/td>\"\"<\/td><\/tr>
Medium-Strength Steel Nylon-Insert LocknutClass 8, Zinc Plated, M3 x 0.5 mm Thread, 4 mm High<\/td>12<\/td>Affixes Links together and to the Base Plates<\/td>\"\"<\/td><\/tr>
Button Head Hex Drive ScrewPassivated 18-8 Stainless Steel, M3 x 0.50 mm Thread, 14mm Long<\/td>12<\/td>Acts as the shaft to affix links together<\/td>\"\"<\/td><\/tr>
General Purpose 18-8 Stainless Steel Washerfor M3 Screw Size, 3.200 mm ID, 6 mm OD<\/td>6<\/td>Reduce surface friction  between links and used to align links <\/td>\"\"<\/td><\/tr>
18-8 Stainless Steel Round Shim0.2mm Thick, 8mm ID<\/td>12<\/td>Reduce surface friction between base plates and geared links, as well as for alignment<\/td>\"\"<\/td><\/tr>
316 Stainless Steel Pan Head Phillips ScrewsM6 x 1.00 mm Thread, 50mm Long<\/td>1<\/td>Affixes both base plates and spacer plates<\/td>\"\"<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"

End-Effector Drawing Mechanical Parts Name  Qty. Purpose Image Dynamixel MX-64 1 Torque Applying Motor for the Cutting Mechanism Dynamixel MX-28 1 Torque Applying Motor for the Gripping Mechanism Dynamixel MX-64 Servo Horn Couple 1 Affixed to the MX-64 Servo Horn Dynamixel MX-28 Servo Horn Couple 1 Affixed to the MX-28 Servo Horn M2x6mm Set Screw … Continue Reading<\/strong> <\/i><\/a><\/p>\n","protected":false},"author":314,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-630","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/pages\/630","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/users\/314"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/comments?post=630"}],"version-history":[{"count":12,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/pages\/630\/revisions"}],"predecessor-version":[{"id":859,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/pages\/630\/revisions\/859"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamd\/wp-json\/wp\/v2\/media?parent=630"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}