Arm Prototype
For our arm we decided to build a double reverse 4 bar with a 1:7 gear ratio using 4 motors wich are all set to hight speed. We origionally had a 4 bar on the top and bottom both using c-1x2x25's but we decieded that the hight wasint quite there so we changed the top half to a sixbar using a c-1x2x25 on the lower portion of the sixbar and a c-1x2x35 on the upper portion of the sixbar. We also used some c-1x2x15's for the sixth bar of the lift.
Double reverse 4 bar. (Before changes)
Double reverse 4 bar (with changes so technically a six bar)
1-7 gear ratio
For our arm we originally tried making a standoff four bar for our cone pick up section of the arm wich was mounted on the original v1 arm (4bar), our team thought the standoff four bar was the best option but due to not being very stable I decided to change to a chain bar. Chain bars work by having one sprocket fixed to the arm with a hole drilled in the centre so the shaft can spin freely wile the other sprocket is fixed to the claw or other end of the bar wich will usually have a shaft conecting it to the bar. When the bar moves up the chain keeps the claw level.
Standoff fourbar (photo on right 1010x)
Chainbar.
For our claw we originally used a smilar design as williams claw, we decided to change to a roller intake because it allows us to use the driverload platform.
claw
Roller intake