Arm mission needs

• Pick up tools (e.g. screwdriver, hammer, wrench) – graspable features (such as a handle) no greater than 5 cm in diameter
• Rocks up to 5 kg in mass (Max Dim: 40 cm x 40 cm x 40 cm)
• Pick up 10g of soil from multiple sources

Design calculations for arm (Load calculations)

Joints	Load
Joint 1	Nema 34 – 13Nm Torque
Joint 2	Nema 34 (Geared – 13Nm (25:1) – 325 Nm
Joint 3	Nema 23 (Geared) – 3Nm (25:1) – 75 Nm
Joint 4	Nema 23 – 3Nm (25:1) – 75 Nm

Links	Dimensions
Link 1	500mm
Link 2	400mm
Link 3	300mm

 

Manufacturing

Milling and drilling of aluminium blocks was done on campus in order to obtain links for the robotic arm

(Images show milling of aluminium block (top) and CAD of arm links with stepper motor (bottom))