Lab 8: Forward Kinematics (Shoulder Assembly)


Worm gears and the grey Lego turntable:
1 grey turntable
1 axel, length 10
2 axel nuts
8 snap-connectors 2 worm gears
1 medium gear

1 altered 1x2 brick w/25K pot 		2 bricks, 1x10
2 bricks, 1x4
2 bricks 1x2
2 plates 1x6
2 plates 1x2
2 plates 1x1
CAUTION: Be sure both worm gears are synched up, that is, they form one continuous screw and are not out of phase.


Mounting the Joint and Motor:

1 motor
1 medium gear
1 small gear
2 bricks 2x12
2 plates 2x8
2 plates 2x6
2 plates 1x4
1 plate 2x2
The 2x12 plates with holes on the underside can now be used to mount the shoulder to the board provided for the lab.

http://www.generalrobotics.org/labs/lab08
last updated: August 4, 2000 by Brennan Sellner
(c) 1999, 2000: Howie Choset, Carnegie Mellon