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Grid Navigator
+Project Report
In situations when the floor is not accessible for traversal , alternative way is to traverse the area along a grid network and access the desired objects with the help of an expanding arm. The project is an attempt in similar directions.
+Major Components
- Support base: The material used is Perspex. All the other components and subassembly are placed on it.
- Arms: Four Arms are connected to the base (2on each side) by revolute joint.
- Half wheels: Two wheels each having the profile of the pipe are cut into and the 4 half cut wheels are attached to the arm at the top end.
- Rhombus mechanism: One end of the mechanism is attached to the support and the other to a hook designed for picking up the cylinder.
+Principle of Operation
- Traversal along the pipe: The wheels attached to the arms are placed above the pipe and the whole body lie below the pipe. To actuate the wheels motor is fitted on the top end arms and the wheels are fitted directly on the output shaft. Once the power is supplied to the output shaft, the wheels rotate and roll on the pipe and the system moves forward.
- Actuating the arms: Open and closing of arms is realized with the help of string and pulley. One end of the thread is attched to the arm and it is passed over a pulley for changing the direction of the applied force and the other end is attached to the output shaft of the motor. When the motors rotate in order to release the strings, the arms open up by virtue of initial elastic kink and its weight . To close the arms the motor rotates in opposite directions.
- Negotiating the crossing: When the front end of the machine meets the crossing, the front arms are opened up. The machine is pushed forward by rotating the rear wheels. When the front arms reach the other side they are closed and rear arms are opened up. Finally when the whole body comes on the other side, rear arms are closed.
- Picking up the cylinder: A rhombus mechanism is attached to the base. The top arms are actuated by the motor. Actuation of the arms results in vertical movement of the end-effectors.
+People
