Vex Robotics Clawbot Instruction Manual

Clawbot 1.0 •1
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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Robotics Systems
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CLAWBOT BUILDING INSTRUCTIONS
CLAWBOT WITH
SENSORS BUILDING
INSTRUCTIONS
USING THE
VEX CORTEX

Clawbot 1.0 •2
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
1Collect the parts and tools from the list below to attach the sensors:
Materials Quantity
Shaft, 4” Long 1
Shaft, 5” Long 2
Screw, 8-32 x 3/8” Long 9
Screw, 8-32 x 1/2” Long 2
Screw, 8-32 x 3/4” Long 12
Nut, 8-32 Keps 19
Shaft Spacer, Thin (4.6mm) 8
Shaft Spacer, Thick (8mm) 5
Standoff, 1” Long 1
Angle Gusset 2
Optical Shaft Encoder 2
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Potentiometer 1
Bump Sensor 1
Limit Switch 1
Ambient Light Sensor 1
Yaw Rate Gyroscope 1
Line Tracker 3
LCD Display 1
Integrated Motor Encoder Kit 1
Allen Wrench 3/32” 1
Allen Wrench 5/64” 1
Open End Wrench 1/4” 1
#1 Phillips Screwdriver 1
Pliers 1
Hacksaw 1
Note that this robot can only
be built if you have a standard
Clawbot already assembled

Clawbot 1.0 •3
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Bumper Sensor
2
x2 x2x2
3/4”
x1
Place screws through the bump sensor and place thin spacers on the opposite side

Clawbot 1.0 •4
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Bumper Sensor (continued)
2
Front View
Attach the bump sensor as shown below
Bottom View

Clawbot 1.0 •5
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
3Attaching the Ambient Light Sensor
x1 x1 x1
3/8”
Claw is hidden for
visibility purposes
Front View
Top View

Clawbot 1.0 •6
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
4Attaching the Potentiometer
Remove the arm motor along with the clutch post and shaft coupler
To attach the Potentiometer,
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C-Channel holding the arm
Next, remove the left, bent bar and its screws and nuts

Clawbot 1.0 •7
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CLAWBOT BUILDING INSTRUCTIONS
Remove the shaft collar below
Attaching the Potentiometer (continued)
4
This is what the robot should look like after the bar is removed

Clawbot 1.0 •8
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CLAWBOT BUILDING INSTRUCTIONS
Carefully slide the C-Channel off the arm structure. Keep the bearing blocks intact.
Take the metal bar and remove the bearing blocks and rivets.
Attaching the Potentiometer (continued)
4

Clawbot 1.0 •9
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Reattach the block on the opposite side of the metal bar
Attach the Potentiometer
Attaching the Potentiometer (continued)
4
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block and 2 rivets. We will use it
later for the limit switch.
x1x1
3/4”
x1

Clawbot 1.0 •10
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Re-attach the arm motor along with the clutch post and shaft coupler
Attaching the Potentiometer (continued)
4
Reattach the bent bar we removed earlier

Clawbot 1.0 •11
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Replace the uppermost shaft of the arm with a longer shaft.
Attaching the Potentiometer (continued)
4
Make sure your structure looks like this before moving on

Clawbot 1.0 •12
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
4Attaching the Potentiometer (continued)
The shaft should be around 4” in length
Place a thick spacer on the shaft
4”
x1
x1

Clawbot 1.0 •13
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
4Attaching the Potentiometer (continued)
Slide the structure back in place. Both C-Channels should now open to the right.
Building Tip - Potentiometer Range of Motion
At this step, make sure the arm rotates within the potentiometer’s range
of motion.
Forcing the potentiometer beyond its mechanical stops will damage the
sensor.

Clawbot 1.0 •14
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
4Attaching the Potentiometer (continued)
Screw the screws and nuts shown below back into place
Finish by putting on the shaft collar we removed earlier
Building Tip - Using Shaft Collars
g

Clawbot 1.0 •15
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CLAWBOT BUILDING INSTRUCTIONS
4Attaching the Potentiometer (continued)
Push the arm structure inwards and make sure everything is tight
Make sure the arm moves freely

Clawbot 1.0 •16
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Sonar Sensor
5
x2 x2x2
3/4”
x1
Orthographic view Top-down view
Much like the bumper sensor, start with 2 screws and a spacer

Clawbot 1.0 •17
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Sonar Sensor (continued)
25
Attach the sonar to the front of the robot
The side rail
is hidden for
visibility purposes

Clawbot 1.0 •18
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
1Attaching the Limit Switch 6
x2 x2x2
3/4”
x1
Orthographic view Top-down view
The limit switch is also attached using 2 screws and spacers

Clawbot 1.0 •19
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Limit Switch (continued)
6
Place the sensor in between the bent bars on the front of the robot like such
Front view from a bottom perspective

Clawbot 1.0 •20
© 2013 Carnegie Mellon Robotics Academy / For use with VEX
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CLAWBOT BUILDING INSTRUCTIONS
Attaching the Limit Switch (continued)
6
Building Tip - Using Pop Rivets
x2
x1
Recover the bearing
block you saved
earlier from the
potentiometer build.
Place it underneath
the claw as shown
below. This will help
the claw activate
the limit switch
100% of the time