STONY POINT HS -- ROUND ROCK ISD

PLTW - PRINCIPLES OF ENGINEERING

The Claw
Project 3.1.7B VEX and RobotC
Gaby Medina, Necole Lane, Kirsten Gordon
4/29/2015

ABSTRACT
The objective of our project is to design and create a claw in order for
factories to use to transport items across the conveyor belts. Necole, Kirsten,
and I have created a claw that is capable of picking up items, turning, and
placing said items in a different locations literally at the push of a button. Our
group created a claw that is cost efficient, somewhat aesthetic, and easy to
create.

TABLE OF CONTENTS
Design Brief
Pictures of Final Solution
RobotC Code for Final Solution
Results and Conclusions
Appendix

DESIGN BRIEF
Client
Company:

TOYS R US Factory

Factory Owners
Target
Consumer:
Factory owners have asked us to develop a
Problem
Statement: solution for the transportation of toy parts.
They need a claw in order to transport said
parts across the conveyor belts.

Create a rough draft, design, create,

Design
Statement: program, and test the claw that will be used
in factories such as TOYS R US.

Constraint
s:

Cost efficient, effective, and aesthetic

PICTURES OF FINAL SOLUTION

ROBOTC CODE FOR FINAL SOLUTION

task main()
{
untilBump(BumpSwitch);
startMotor(claw, 50);
wait(1);
stopMotor(claw);
startMotor (wrist, 30);
wait (1);
stopMotor (wrist);
startMotor (claw, -50);
wait (1);
stopMotor (claw);
startMotor (elbow, 15);
wait(1);
stopMotor (elbow);
startMotor(wrist,30);
wait(1);
stopMotor(wrist);
startMotor (claw, 50);
wait (1);
stopMotor (claw);
startMotor (claw, -50);
wait (1);
stopMotor (claw);
startMotor (elbow, -15);
wait (1);
stopMotor (elbow);
}

RESULTS AND CONCLUSIONS

The claw was a difficult project, our coding and design needed to be
precise to the smallest detail. This includes how the claw will swivel and what to
use to make sure that the claw will not get tangled in its own wires and strong
enough to lift objects. We faced design malfunctions and some coding errors. In
order to solve these problems, we asked someone else for input in order to
create and efficient design. This project could be used to transport extremely
heavy items, and maybe even be used as a prosthetic arm. The results met our
initial purpose. Not only were we able to meet these requirements, but we were
also able to learn how to think like a consumer, or to see what you desire and try
to emulate it. We also learned not to overachieve and that design is much
harder than creation. This activity was about working as a team, learning to
program, and designing an elaborate design.

APPENDIX
#

Part

Cost

Final Cost

Metal Parts
1

Vex Base Plates

$15.00

$15.00

12" Long Linear Slide Track

$7.48

$0.00

17.5" Long Linear Slide Track

$9.48

$0.00

Chassis - Bumper

$5.83

$0.00

Chassis - Rails

$4.13

$0.00

Plate 5x5 holes

$1.50

$0.00

Plate 15x5 holes

$2.50

$2.50

Plate 5x25 holes

$3.75

$0.00

Bar 1x25 holes

$1.62

$0.00

Angles

$4.50

$0.00

C-Channel

$4.50

$9.00

Gussets - any type

$0.99

$5.95

Input/Output/Motors
0

Line Tracker

$13.33

$0.00

Bumper Switch

$6.50

$6.50

Limit Switch

$6.50

$0.00

Flashlight

$12.99

$0.00

Potentiometer

$6.50

$0.00

Optical Shaft Encoder

$10.00

$0.00

Ultrasonic Range Finder

$29.99

$0.00

Light Sensor

$19.99

$0.00

3-Wire Servo

$19.99

$0.00

2-Wire Motor

$14.99

$0.00

Motion Parts
0

Intake Roller

$2.00

$0.00

6-tooth Sprocket

$2.14

$0.00

12-tooth Sprocket

$2.14

$0.00

18-tooth Sprocket

$2.14

$0.00

24-tooth Sprocket

$2.14

$0.00

30-tooth Sprocket

$2.14

$2.14

12-tooth gears

$0.70

$0.00

36-tooth gears

$0.90

$0.00

60-tooth gears

$1.00

$0.00

84-tooth gears

$1.30

$0.00

19-tooth rack gear

$1.25

$0.00

Worm gears

$0.70

$0.00

24-tooth bevel gear

$0.90

$0.00

Worm wheel

$1.00

$0.00

Differential frame

$2.00

$0.00

Delrin Slide Track (pair)

$1.00

$0.00

Claw kit assembly

$19.99

$0.00

Winch and pully Parts

$14.99

$0.00

Conveyor-belt Parts (10 inch)

$5.00

$0.00

Tank Tread Parts

$29.99

$0.00

Chain Links 10 inch

$3.11

$0.00

2.75" Wheel

$2.50

$0.00

4" or 5" Wheel

$5.00

$0.00

Total Cost of the Project

$41.07

BRAINSTORM
Materials:
Claw
Platform
Chassis Bumper
Servo Motor X2
Potential Materials:
Chassis rail X2
Motor
Rack Bracket
Winch Bracket

Decision Matrix to determine final idea - Copy and Paste.

task main()
{
untilBump(BumpSwitch);
startMotor(claw, 50);
wait(1);
stopMotor(claw);
startMotor (wrist, 30);
wait (1);
stopMotor (wrist);
startMotor (claw, -50);
wait (1);
stopMotor (claw);
startMotor (elbow, 15);
wait(1);
stopMotor (elbow);
startMotor(wrist,30);
wait(1);
stopMotor(wrist);
startMotor (claw, 50);
wait (1);
stopMotor (claw);
startMotor (claw, -50);
wait (1);
stopMotor (claw);
startMotor (elbow, -15);
wait (1);
stopMotor (elbow);
}