Pegasys Robot Westinghouse Electric Company
October 3, 2011
Jon Bates, Pace Nalbone, Hunter King, Bridgid Cody, Caity Cronkhite
Problem Statement Increase the robot's: • • • • •
Decrease the robot's:
mobility reliability maintainability payload capacity aesthetic appeal
• surface area • weight • power consumption
Main Objective : Mobility
Goals and Constraints Primary Design Constraints • Square & Hexagonal grids • Mobility in Corners •16” diameter entrance point
Primary Design Objectives •Minimize Surface Area
Final Design
- Four-bar linkage - One camlock per module - Max Payload 127 lbs
Constraints Met 5
Movement
6
Machined Prototype Materials
•Aluminum box tubing •Primarily of architectural (structure), U-Channel (hinges), aluminum (6061and 6063) strip for machinability and weight •Bearings and Connections (focus on low cost) •Steel bearings, bronze sleeves, steel rod (for pins), c-clips •Multiple Fasteners •Mild steel screws, nuts, bolts •Pneumatic Cylinders •Pivot mounted stainless cylinders and rod clevis
Prototype 8
Total: $429.63
Questions? 9
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