End effector for 4dof arm

Overview

In the 2023 FRC game, the task required robots to pick up and place cones and inflatable cubes. As a subsytem lead, I desinged an end effector for the robot's arm that can pick up both game pieces from the intake side, and score either from the rear of the robot. To do this, the subsytem included a pivoting wrist allowing the game pieces to be picked up, and aimed towards the scoring location. The robot was very successful, ranking 4th on its division at the world championship and winning both district tournaments it attended.
The end effector is built around a 2X1 6061 aluminum box tube, using 1/16" polycarbonate sheets to created a flexable and durable structure. Spacers and sprockets for the single chain run were 3D printed on a Formlabs Fuse 1+ out of nylon 11 CF. Silicone tubing was floated onto polycarbonate tube to created a light yet tacky roller for the game peices. It also included a banner sensor to detect when a game piece was aquired.