OLD
NEW
As we analyzed the scoring actions of the hand we shared above, we realized that our current design had multiple problems.
Firstly, our old hand’s algae wheels would be at risk of wrapping around the reef branch, especially during L4 scoring. This limits the angle of approach and the ways in which we can move away from the reef.
Secondly, our concept of intaking up to a hard stop on the elevator was also not ideal, since there wasn’t much space to mount such a thing on the elevator without jeopardizing the climb mechanism.
Thirdly, to add to a slew of problems, current sensing wasn’t likely to put the coral in a consistent place.
Thus, we decided it was time to make a second version of the hand. Below is a comparison chart of features as well as pictures:
| Old | New |
|---|---|
| Pass-through Coral, In/Out Algae | In/Out Both, Hardstop for Both |
| Rests Above Elevator | Stows Underneath Elevator |
| 10.25 lbs | 8.5 lbs |
| Stub Rollers for Algae (Individually powered) | Solid Roller for Algae (Powered w/ 1 belt) |
| Live + Dead Axles | All dead axle |
| Incorrect Gearing for Equal Surface Speeds | All Rollers at Equal Surface Speeds |
New Coral Hardstop:
Intaking (original coral stop was never modeled):
L4:
L3:
L2:
Algae removal is done facing the opposite side as the one used for coral scoring.
Intaking Algae:
Barge Scoring:
Processor Scoring:
Staying out of the way for climb:
Overall we’re pretty happy with our new hand design. The testing we have done with it so far has been positive, especially with the grip strength and improved functionality.