User:J4knee21/enes100/My Work2

Write problem/project Goal
Create an elephant trunk style arm that can pick up nearly anything.

My First Task
My first task will be to devise a plan to increase the suction of the coffee grind hand given some new information I have encountered.

Summary of actual work over first weekend
Over the weekend I stayed directly on track with the original task. I not only devised what I believe will be a much more effective build for the hand. I also began to put thought into how to extend the arm downward to actually pick items up.

Week1 Narrative
I created a new plan for the coffee grind hand that will be use something I stumbled upon. I discovered that when pushing the pvc itself onto the balloon and then turning on the vacuum the balloon actually seals itself and there more a much stronger hold is created. So what I decided to do is put a small piece of pvc that extends outward into the drain so that when pushed up against the balloon it will create a much more effective seal. I also would like to make the drain permanently glued onto the coupling so that it will be much more air tight, allowing for a better vacuum. In addition when this is permanently attached there must be some way to change out the balloons in case one breaks or I feel like trying out another material inside the balloon. To do this I feel the answer lies with the newly placed pipe inside the drain. I am going to need some screen to put up into the pipe so that when the balloon is sucked up in there it does not go to far and eventually burst. So putting screen at a cone shape and cutting a hole in the top so that the knot of the balloon can be pushed through and held up there. Then make this where it can somehow be removed from and replaced very easily. All of this should be somewhat easy to accomplish and very inexpensive also. Also I would like to find some kind of very small hydraulic ram to use for extending the hand downward and back up again. I was thinking maybe an only shaft and casing that you might find of some screen doors. This could be modified to extend when attached to a compressor then using a pressure relief valve to cause it to come back upward again.

My Second Task
My second task is to build the upgraded coffee grind hand previously stated in the week 0 narrative.

Summary of actual work over second weekend
I followed my original task and created my secondary hand. It hasnt had a test run yet, but I hope it should be much better.

Week2 Narrative
I went ahead and build the new robot hand. I shortened the body to try and reduce weight. Also when putting it back together I sealed it with pipe glue so hopefully that will help for a better seal. I used a 2" coupling because it fit perfectly in the drain. Then pipe glued it into place. Afterward I put Spackle around the outer portion of the drain hoping to make the balloon fit better. But the Spackle keeps cracking on me so I have had to make several attempts at completing this portion. Finally I got the spackle dried and then I dropped the hand and all of it crumbled out of it. So now I have made the decision to move on without the spackle and go for it because it is slightly unneccessary and is holding be back greatly. Now when I decided to check for leaks by putting the compressor up to the inlet where the vacuum goes to check for leaks i discovered something very interesting. When the compressor is put up to the hand it inflates it partially and makes it extremely easy to move around. Therefore making it easier to engulf the item desired to be picked up. So the hand can pick up more things with less downward force. This will make the act of picking things up much less complicated. Also I found that the screen is anti productive. Without it the balloon seals itself with the pipe as well as out side of it for a superb seal. But I now feel I have the hand somewhat completed so Here are a few photos and instructive drawings. :

My Third task
think up how to mount the the hand to the strings controlled by the motors and build it.

Summary of actual work over third weekend
Effectively created an interchangeable mounting system for the project.

Week3 Narrative
During my past endeavors over spring break I set out to create an interchangeable mounting system for the coffee grind hand that could also work for the fin ray. So I decided to stick with the pvc theme to make things simple, inexpensive, and consistent. So while at home depot I could not find a piece that would fit over the shape of the cap at the end of the hand. So after searching for a while I found a piece I thought could work. It was simply two threaded couplers: one male, one female. I decided to put the male at the end of the hand. to make this work I had to put the vacuum chamber in the lathe and make the shape at the end circular so that it would fit together. After a while this was completed. I have yet to glue that piece on until I show it to my fellow team members. Then for the piece that holds it up I used the female threaded coupler. For the maker bot wires to hold it up I took a very simple approach. Using a band saw I cut three grooves in the coupler for the wires to rest in and keep them in place. Once they had a resting place I put two large hose clamps around it and tightened them down. It is now secure and ready for action I believe. :

My Fourth task
Create a fin Ray claw of my own.

Summary of actual work over fourth weekend
Spent several days brainstorming possible designs.

Week4 Narrative
This weekend my time was used in creating a design for my own version of a fin ray claw. Now what I originally planned to do is use strictly sheet metal. However, sheet metal can become brittle over a very short period of time and also does not bend and return to regular position well. So what I decided to do was use a series of hinges. Now what It will be is three or four hinges to each side and they will all be connected with another piece of metal connecting each side. This way the hinges can move easily when desired, return to their original position, and be much more sturdy while at the same time more simple to build. Hopefully this works out well. This is a approximate drawing of one side of the claw I am planning on. The circles would be the hinges and the other is the metal.

Complete Team Page
Fill out the Team Form (should have already copied the form, created the team page, linked to it and started filling it out).