Our brainstorming process is divided into two separate parts. The first step was brainstorming the arm mechanism. We started with the desired position profile, which is based on the problem we decided to address. An image from our brainstorming stage about the desired position profile can be seen below on the left, and a sketch on the linkages on the right.
Since the desired position profile was known, the software MotionGen was used to generate different arm designs. MotionGen was helpful because it can show the position profile of a link based on an input. A final design was made in MotionGen with a position profile that matches what we wanted.
Brainstorming for the claw did not start until the arm design was finalized and prototyped. Once we knew that we had a working arm, we then started designing the claw. The claw brainstorming had the most variance as we researched different methods of coupling the grab and release of the claw to the constant movement of the arm. Ideas included some sort of escapement mechanism, and a linear gear system. Initial sketches of a proposed linear gear system are shown below on the left, and sketches of the escapement mechanism on the right. As the scope of this class is centered around linkage mechanisms, we decided to go with the escapement mechanism design. While we could not find any specific negative about the linear gear design, we wanted to continue to practice the theory taught in this class by using the escapement mechanism.
