My Customized Parametric Robot Claw

thingiverse

Human: I modified a customized version of the website http://www.thingiverse.com/thing:27468 to meet my unique requirements. Created with the Customizer application on the Thingiverse website at http://www.thingiverse.com/apps/customizer/run?thing_id=27468. Instructions: Using the custom options below: Hand length = 30 inches Display target coordinates = enabled Assemble components together = disabled Number of gear stages = 1 stage Target side length = 52 inches Screw diameter = 3 inches Plate thickness = 3 inches Position coordinates for right-hand grip = - Arm length times the sine of one-half the rotation angle (R/2) along the x-axis, - Grip offset minus arm length times the cosine of half the rotation angle (1-cos(R/2)) along the y-axis, - Plate height minus 0.3 units along the z-axis. Position coordinates for left-hand grip = - Arm length times sine of one-half the rotation angle (R/2) along the x-axis, - Grip offset plus arm length times the cosine of half the rotation angle (1-cos(R/2)) along the y-axis, - Plate height minus 0.3 units along the z-axis. Grip plate height = 15 inches Play tolerance for screw position = 0.1 unit Left-hand free-arm stay coordinates = - Free-arm stay offset times cosine of thirty degrees (30°) along the x-axis, - Grip offset minus the free-arm stay offset times sine of thirty degrees (sin(30°)) minus arm length along the y-axis, - Zero height along the z-axis. Right-hand free-arm stay coordinates = - Free-arm stay offset times cosine of thirty degrees (30°) along the x-axis, - Grip offset plus free-arm stay offset times sine of thirty degrees (sin(30°)) plus arm length along the y-axis, - Zero height along the z-axis. Large gear position coordinates left = Zero on the x-axis, Arm gear position units along the y-axis, and zero on the z-axis. Right large gear position coordinates = Zero on the x-axis, negative arm gear position units along the y-axis, and zero on the z-axis. Position of right small gear stage 2 = - Zero along the x-axis, - Negative value representing radius plus one-half the play tolerance multiplied by three units along the y-axis. Position of right small gear stage 1 = - Zero along the x-axis, - Radius plus half the play tolerance units along the y-axis. Number of play units between gears for all parts of this project = 0.2 unit. Left position coordinates of the first left small gear stage = Zero on the x-axis, positive radius value plus half the number of play units times three, and zero height along the z-axis. Position of left small gear stage one = - Zero along the x-axis, - Small radius times the radius plus a play tolerance unit equals arm thickness for gear placement. Turn cover plate visibility off during printout process. Arm part width in each object within this customized item is set to five units Number of teeth on each individual gear included in this project design = Ten. Coordinates defining the starting point offset in the X-axis direction of both free-arm stays as described previously have all been set equal to one half a unit off in positive value along that particular coordinate. FreeArmStay_Offset = one-half a standard units.