FLL Robot Design Workshop Tool Design and Mechanism
Prepared by Dr C H (Tony) Lin Principal Engineer Tire and Vehicle Mechanics Goodyear Tire amp Rubber Company tony_lingoodyearcom
Description
Mechanism (Attachment) is extending a simple robot into a powerful robot that can control and change its environment Learning about how properly design attachments for your robot to meet a particular challenge can make for a winning robot
A Systematic Design Methodology
1 Identify the functional requirements based on mission requirements of a class of mechanisms of interest
2 Determine the nature of motion (ie planar spherical or spatial mechanism) degrees of freedom (DOF) type and complexity of the mechanisms
3 Identify the structural characteristics associated with some of the functional requirements
4 Enumerate all possible kinematic structures that satisfy the structural characteristics using graph theory and combinatorial analysis
5 Sketch the corresponding mechanisms and evaluate each of them qualitatively in terms of its capability in satisfying the remaining functional requirements This results in a set of feasible mechanisms
6 Select a most promising mechanism for dimensional synthesis design optimization computer simulation prototype demonstration and documentation
7 Enter the Building phase
Robot Design and Construction
Planning ndash what does the team want to achieve and how will they achieve it Let the kids do it
Design iteration
Brainstorm (what to build)
Design (how to build it)
Build it
Test it
Repeat until itrsquos perfect (or good enough)
Trade-offs Good Quick Cheap ndash pick two (at most) Quality ndash Schedule ndash Budget
How to make things stiff
Use your hypotenuse Use right triangles 3-4-5 6-8-10 12-16-20 (51213) etc
Interlock bricks amp beams
Two thin bricks in between Lock with vertical beam
Triple beams (double shear)
Three-pins instead of two pins
Technic Design School httptechniclegocomtechnicdesignschooldefaultasp
Courtesy of Team RED Robot Construction and Design
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Description
Mechanism (Attachment) is extending a simple robot into a powerful robot that can control and change its environment Learning about how properly design attachments for your robot to meet a particular challenge can make for a winning robot
A Systematic Design Methodology
1 Identify the functional requirements based on mission requirements of a class of mechanisms of interest
2 Determine the nature of motion (ie planar spherical or spatial mechanism) degrees of freedom (DOF) type and complexity of the mechanisms
3 Identify the structural characteristics associated with some of the functional requirements
4 Enumerate all possible kinematic structures that satisfy the structural characteristics using graph theory and combinatorial analysis
5 Sketch the corresponding mechanisms and evaluate each of them qualitatively in terms of its capability in satisfying the remaining functional requirements This results in a set of feasible mechanisms
6 Select a most promising mechanism for dimensional synthesis design optimization computer simulation prototype demonstration and documentation
7 Enter the Building phase
Robot Design and Construction
Planning ndash what does the team want to achieve and how will they achieve it Let the kids do it
Design iteration
Brainstorm (what to build)
Design (how to build it)
Build it
Test it
Repeat until itrsquos perfect (or good enough)
Trade-offs Good Quick Cheap ndash pick two (at most) Quality ndash Schedule ndash Budget
How to make things stiff
Use your hypotenuse Use right triangles 3-4-5 6-8-10 12-16-20 (51213) etc
Interlock bricks amp beams
Two thin bricks in between Lock with vertical beam
Triple beams (double shear)
Three-pins instead of two pins
Technic Design School httptechniclegocomtechnicdesignschooldefaultasp
Courtesy of Team RED Robot Construction and Design
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
A Systematic Design Methodology
1 Identify the functional requirements based on mission requirements of a class of mechanisms of interest
2 Determine the nature of motion (ie planar spherical or spatial mechanism) degrees of freedom (DOF) type and complexity of the mechanisms
3 Identify the structural characteristics associated with some of the functional requirements
4 Enumerate all possible kinematic structures that satisfy the structural characteristics using graph theory and combinatorial analysis
5 Sketch the corresponding mechanisms and evaluate each of them qualitatively in terms of its capability in satisfying the remaining functional requirements This results in a set of feasible mechanisms
6 Select a most promising mechanism for dimensional synthesis design optimization computer simulation prototype demonstration and documentation
7 Enter the Building phase
Robot Design and Construction
Planning ndash what does the team want to achieve and how will they achieve it Let the kids do it
Design iteration
Brainstorm (what to build)
Design (how to build it)
Build it
Test it
Repeat until itrsquos perfect (or good enough)
Trade-offs Good Quick Cheap ndash pick two (at most) Quality ndash Schedule ndash Budget
How to make things stiff
Use your hypotenuse Use right triangles 3-4-5 6-8-10 12-16-20 (51213) etc
Interlock bricks amp beams
Two thin bricks in between Lock with vertical beam
Triple beams (double shear)
Three-pins instead of two pins
Technic Design School httptechniclegocomtechnicdesignschooldefaultasp
Courtesy of Team RED Robot Construction and Design
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Robot Design and Construction
Planning ndash what does the team want to achieve and how will they achieve it Let the kids do it
Design iteration
Brainstorm (what to build)
Design (how to build it)
Build it
Test it
Repeat until itrsquos perfect (or good enough)
Trade-offs Good Quick Cheap ndash pick two (at most) Quality ndash Schedule ndash Budget
How to make things stiff
Use your hypotenuse Use right triangles 3-4-5 6-8-10 12-16-20 (51213) etc
Interlock bricks amp beams
Two thin bricks in between Lock with vertical beam
Triple beams (double shear)
Three-pins instead of two pins
Technic Design School httptechniclegocomtechnicdesignschooldefaultasp
Courtesy of Team RED Robot Construction and Design
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
How to make things stiff
Use your hypotenuse Use right triangles 3-4-5 6-8-10 12-16-20 (51213) etc
Interlock bricks amp beams
Two thin bricks in between Lock with vertical beam
Triple beams (double shear)
Three-pins instead of two pins
Technic Design School httptechniclegocomtechnicdesignschooldefaultasp
Courtesy of Team RED Robot Construction and Design
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Demonstration
Three-pins vs two-pins when used with more than three beams
Two pin structures bend
Three-pins much more rigid
Stacked beams with
black two-pins
Stacked beams with
grey two-pins
Stacked beams with
blackblue three-pins
Courtesy of Team RED Robot Construction and Design
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
How to make things strong
Use large parts Donrsquot use several small parts when one large part will
suffice
Stiffness decreases with the number of parts used to do a task
Use L-beams to form right angles Do not use two beams and a pin use an lsquoLrsquo
Make structures out of beams not axles when possible Axles are more flexible than beams ne consistency and
precision
Courtesy of Team RED Robot Construction and Design
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Stiffness v Length Demo
If we need something longer than 15hellip
Two beams overlapped
More overlap = stronger beam
2 x 11 2 x 15
Courtesy of Team RED Robot Construction and Design
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Classification of Mechanisms
No DOF Mechanisms
Planar Mechanisms (1-2 DOF)
Planar Linkages
Geared Mechanisms
Chain amp Pulley
Spatial Mechanisms (1-3 DOF)
Spherical Mechanisms (gt= 3 DOF)
Remember your robot can move
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Examples
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Examples
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
FLL Robot Attachments (Standard Kits)
Passive Attachments
Pushing attachment
Hooking attachment
Dumping attachment
Collecting attachment
Spring-loaded attachment
Power Attachments
Grabbing attachment
Lifting attachment
Pushing attachment
Turning attachment
Hooking attachment
Dumping attachment
Collecting attachment
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Passive Attachments
Pushing attachment
Flat surface or Angled surfaces
Move game elements independently or in a container (Flat surface )
Move game elements out of robotrsquos path (Angled surfaces)
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2010 MampMrsquos design
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Complete Examples
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 1
Build Push Plate (15 minutes)
Pins Guide Attachment
BOM
Instruction
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Passive Attachments
Hooking attachment
Fork and Hook attachments
Collecting special objects
Can be combined with power assist to lift sweep and drop
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2010 MampMrsquos design
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Complete Examples
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 2
Hooks(15 minutes)
BOM
Instruction
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Passive Attachments
Dumping attachment
Container to move game elements to specific location
Based on basic four-bar linkage or simple hinge mechanism
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2011 Brazing Brainsrsquo design
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 3
Four-Bar Carrier(30 minutes)
BOM
Instruction
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Passive Attachments
Collecting attachment
Object trap - Box opens only inward
Sweeper ndash moving object in certain direction
Capture objects to return to base
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2011 Brazing Brainsrsquo design
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 4
Trap Box (30 minutes)
BOM
Instruction
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Passive Attachments
Spring-loaded attachment
Snap or pre-loaded
Collecting hitting or turn
Combining with other mechanisms or trigger
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2011 Brazing Brainsrsquo design
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 5
Spring Loaded Hook (20 minutes)
BOM
Instruction
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 6
Spring Loaded Trigger (20 minutes)
BOM
Instruction
Courtesy of Team RED Robot Construction and Design
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
FLL Robot Attachments
Passive Attachments Pushing attachment Hooking attachment Dumping attachment Collecting attachment Spring-loaded attachment
Power Attachments Grabbing attachment Lifting attachment Pushing attachment Turning attachment Hooking attachment Dumping attachment Collecting attachment
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Power Attachments
Using third motor as power source to generate controllable motion
Attachments would be designed to connect to the fixed motor
Considerations Motor location
Moving space
Moving speed amp torque
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Power Attachments
Grabbing and Collecting attachment
Claw Vise Grip Trap
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Power Attachments
Lifting Hooking and Dumping attachment
Lever Forklift Trap
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2010 MampMrsquos design
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 7
Forklift(40 minutes)
BOM
Instruction
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Power Attachments
Pushing attachment
LEGO Actuator or Custom Actuator
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Power Attachments
Turning attachment
Controllable turning action
Define turning angle direction and arm length
Gear type ratio and direction
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Gears and Usage
Regular spur gears Gearing up or down changing speed or torque Converting rotary to linear motion (rack and pinion)
Bevel gears and crown gears Change shaft direction by 90 degrees hellip Note direction of rotation changes (4 tooth is also good for this task)
Torque Will only apply a given level of torque before slipping
Worm Changing direction speed and torque (itrsquos a 1 tooth gear) Eliminates back driving bull Gear Ratio =
No Teeth InputNo Teeth Output
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example 2011 Brazing Brainsrsquo design
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Exercise 8
Gear amp Grip (40 minutes)
BOM
Instruction
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Example Videos
httpwwwyoutubecomwatchv=h3PS7nIihOw
Passive and power attachments
httpwwwyoutubecomwatchv=o7RiDjcm5Dg
Power attachment ndash forklift amp actuator
httpwwwyoutubecomwatchv=VT5_ziLhENEampfeature=related
Passive and power attachments
Identify mechanisms that had been used within each video
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
FLL Robot Attachments (Non-Standard Kits)
Pneumatics operation
Pneumatics give the robot another power source of manipulation besides LEGO NXT servos (motor)
Powerful
Partial controllable motion - Onoff switch with pneumatic actuator
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
Examples
lifting attachment
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel
References
Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai
Winning Design LEGO Mindstorms NXT David J Trobaugh
Designing for FLL with Lego Mindstorms Hints and Tips Team Unlimited FTC0001 unlimitedsyraweborg
Robot Mechanisms and Mechanical Devices Illustrated Paul E Sandin
Building Robots with LEGO MINDSTORMS Mario Ferrari Giulio Ferrari and Ralph Hempel