Project Narrative

We successfully developed a versatile grasping mechanism that is capable of handling different sizes and shapes of objects combining with software systems for an automated warehouse environment.

Our aim was to develop a lightweight, easily mountable end-effector mechanism compatible with the Q-Arm for object handling. We prioritize simplicity while maintaining a strong grip stability.

Functions

• Securely grasp and lift objects of varying shapes, sizes
• Provide curved claw surfaces to maximize contact area to increase friction
• Manage warehouse orders through a Python-based system
• encrypted password handling to ensure data security

Constraints

• Weight must be below 100 grams

• Components can only be made via 3D printing or laser cutting.

• Q-Arm provides limited force

     Time line of project (Oct 3 - Dec 3) 
  

Team’s Work and Personal Contributions

At the start of the project, each team member were asked to create two preliminary sketches, followed by a short in-group presentation to select the best concept. We then developed a refined CAD model incorporating mechanical design considerations. For the software, each member coded a specific function in Python, and we collaborated to integrate all components. By combining the finalized mechanism with the completed code, we successfully developed a fully functional warehouse system.

                      My Mechanical Claw rough sketch #1

                         My Mechanical Claw rough sketch #2

                                          My CAD design for the mechanical claw

After selecting the best design, we began fabricating the mechanism using a 3D printer and tested our preliminary prototype. The major issue encountered was that the front claws could not securely grasp the level 4 objects, such as the witch hat and bowl, due to their low-friction surfaces. Moreover, we encountered several challenges like the mechanism approached objects at an angle rather than level, and it was inefficient in material usage which is thicker and longer than necessary. These issues guided us to refine the current design for better functionality and efficiency.

The final combined solution used a four-gear mechanism paired with a set of elevated claws, and during testing, it performed consistently. , the redesigned claw shape and gear alignment allowed for reliable grasp. The end effector was successful when packing the sponge, rook, and the 12 side Dice and the witch hat. However the main issue with the design is its inability to grasp the bowl due to the approach angle not being parallel to the ground, and the imperfect fit of the clamp to the small circle on the top of the bowl.

                              The first iteration designed by the group 

                                The Final Iteration Design

For the coding part of the project, I was in charge of leading the development of the Main function, making sure all the team member’s code work together in one Python program. My duties ensured each function was called properly and managing the flow of the entire program. This ensured the software operated smoothly and reliably, the software worked well with the mechanism and it helped the warehouse management system.

For the individual coding component, I was responsible for the Customer Summary function, which collects data from other modules and generates a summary for each item that was successfully grabbed. This function organizes the information into a clear, structured format, providing a complete overview of the warehouse operations and ensuring that all processed items are accurately tracked.

        Flow chart for Customer Summary 

                                    Customer Summary code #1