Arm Design Team
Problem statement
Wisconsin Robotics (WR) is a competitive STEM organization that participates in the annual University Rover Challenge (URC). URC is an annual undergraduate robotics competition that challenges students to develop a mock rover capable of navigating rough terrains, lifting heavy objects, carrying out arm manipulation sequences, and examining the environment for signs of life as a simulation for future missions to Mars [1]. WR has asked us to redesign their rover’s robotic arm. An immediate response to this request is, why? If their arm works, why build a new one? The arm manipulation portions of the competition includes tasks such as flipping switches, turning screws, typing on a keyboard, carrying rock samples, etc. The WR team’s current arm is not able to complete these tasks sufficiently, and the imposition of new rule changes for the arm’s reach height further necessitates a redesign. To demonstrate the state of the current arm, imagine trying to plug in a USB drive, one of the tasks required by URC 2022. This task is difficult even for people sometimes. Now, imagine you can only move one joint at a time, there is a delay between when you move your arm and when you see that movement, and there is a chance you miss your target by a few degrees. This is equivalent to operating the current robotic arm, which is an arduous experience that wastes crucial time. For this project, we will address the current arm’s core issues: joint backlash, a lack of joint stops, poor manipulator strength, imprecise wrist construction, and an insufficient total arm height. While addressing these issues, we will be conscious of the additional WR sub-teams that are affected by these changes, namely software and electrical. Ultimately, our goal is to deliver a completely revamped arm that will allow Wisconsin Robotics to achieve perfect scores at URC 2022, contribute to the next generation of rover technology, and bring STEM recognition to the University of Wisconsin-Madison. References: [1] “University Rover Challenge 2022 – Requirements and Guidelines.” The Mars Society. [Online]. Available: https://urc.marssociety.org/home/requirements-guidelineshttps://www.youtube.com/watch?v=_bJy_6i2cig [2] Wisconsin Robotics, Wisconsin Robotics – 2021 SAR Submission, (Mar. 06, 2021). Accessed: Sep. 24, 2021. [Online Video]. Available: https://www.youtube.com/watch?v=_bJy_6i2cig
Team members
Mitchell Haglund – leader
Katherine Kern – communicator
Mohammed Alamer – accountant
Payton Jackson – admin
Client
Tarik Amiri, Wisconsin Robotics