RAIL

For a robotic systems class, I served as mechanical systems lead for our team project. I coordinated design, ensured design intent, and manufactured non COTS parts.

RAIL, Robotic Arm for Interactive Learning, is a portable RRT system to aid classroom learning. The robot is a three degree-of-freedom system: a revolute-revolute-type arm with a prismatic end effector. The robot is controlled using MATLAB, where a graphical user interface allows for operator input, and the software autonomously generates and executes position and velocity commands.

The design was modified during manufacture to account for material availability. Cost was a large pinch point and fabrication was driven based on shop stock. Design was also driven by tooling. The mills used did not have the travel necessary for the arms and resets were necessary. Lathe and keyway tooling was created specifically for this project.

Joint between link one and two

Joint between link one and two

Base plate subassembly

Base plate subassembly

Arm assembly, sans end effector

Arm assembly, without end effector

Lower shaft and base subassembly without motor

Lower shaft and base subassembly without motor

Upper shaft sub assembly without motor

Upper shaft sub assembly without motor

 

Drawings:

RAIL, with BOM
Upper Shaft
Lower Shaft
Boston Gear Worm
Boston Gear Worm Gear
Lower Motor Mount
Lower Motor Stability Bearing Mount
Link Two
Link One
Lower Encoder Mount
Link Two Hub
Upper Bearing Mount
Link One Cross Bar
Link One Hub
Lower Shaft Coupler
4×4 Key
3×3 Key