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Design ConstraintsThe 4-Bar Linkage has several states it must
geometrically accommodate:
Top Score
Mid Score
Low Score
Floor Pickup
Feeder Pickup
In addition to fitting in the starting envelope & not leaving the 84” cylinder
Design GoalWe know this is possible; our issue it optimizing the
design.
Optimization Parameters Low Weight Low CG (don’t tip) Low Moment of Inertia, I (be nice to the motor) Best “Safe” Configuration (claw/tube near bumper
perimeter) Quick Pickup & Scoring Easy Implementation Robust & Maintainable
Solution – Inventor Model4-bar25.iam
How to Move the Parts: Jaw – Bimba 4 rod 3:1 mate “JawCylinder” open=-3,
closed=0 Tilt – Bimba 4 rod 3:2 mate “TiltCylinder” tilt=-3, flat=0 Linkage – Linkage3-short mates “StartConfig” &
“DeployedConfig”
Boundaries: Starting Box – Clear polycarbonate width & height 84” Cylinder – Smoked polycarbonate width Feeder Height – Smoked polycarbonate height