As stated in the initial project proposal, analysis that will need to be performed prior to the fabrication includes the following. We need to understand the motion profiles of the linkages as well as the rotary motion from the base to the claw. Furthermore, we will analyze the force profile of the grabber, the arm’s geometry/dimensions, and overall design via SolidWorks simulation. We would like to use the minimum amount of materials so the arm can take up as little space as possible, and we need to analyze the rotation of the base with respect to the other components such as wires.
Analysis was done using Solidworks. An entire assembly was made of the mechanism, including the motor. A common input can be applied to the modeled motor, which is the input theta. From there, position of a point, velocity of a point, and force of a point can be found. Solidworks can export the data to Excel spreadsheets, which are linked below.