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Lots of good work has been accomplished today, and we are very on schedule. There hasn't been a meeting yet where we have not advanced our design in some way, and found new parts that we need to use. 

Clevis bracket:

http://www.bimba.com/Products-and-Cad/Actuators/Inch/Accessories/Mounting-Brackets/Clevis-Bracket/Compact-Low-Profile-Clevis-Bracket-Bimba-Flat-Series/

Rod eye:

http://www.bimba.com/Products-and-Cad/Actuators/Inch/Accessories/Rod-Attachements/Rod-Pivots-Rod-Eyes/Compact-Low-Profile-Rod-Eye-Bimba-Flat-Series/

First we began designing a frame to attach our claw to. At the beginning of the meeting we did not know the exact dimensions and design constraints that we needed. We came up with several concepts that can be applied to our system, taking into account the requirements given to us by lifter (they need us to attach their 80/20 slider part to our apparatus and also they need to attach a cable to it). Basically, we have a plate on the back of our pistons to brace them, and then a plate on top of the pistons that attaches to this back plate at a 90 degree angle. We considered mounting a spring in between the pistons to cushion the force and add force to the pistons (it would contract when the clamp is retracted and then revert to normal when the clamp is extended). More detailed drawings can be found on our paper in our notebooks that are in the computer desk. 

We also got more data on the dimensions of the robot, which means our sketch that we drew last meeting has been updated. Our apparatus needs to fit within about 5.5 inches of space, from the bottom of the plate bracing against the piston to the front side of the clamp. We are coming really close to this, we still need to calculate exactly how much space our apparatus thingy takes up. 

We found a piston that we want to use (pdf can be found on drive under our folder, it's the serial number of the piston and the, and a clevis hinge that we can use to attach the piston to the clamp (http://www.automationdirect.com/adc/Shopping/Catalog/Pneumatic_Components/Pneumatic_Air_Cylinders/Compact_Air_Cylinders_(C-Series)/Compact_Pneumatic_Cylinder_(C-Series)_Accessories/CRP-12). We need the other part to the clevis hinge (the part that attaches to the clamp, the link above is the part that attaches to the piston), and we haven't figured out exactly the one that we need, but it's one of three options. 

We updated a lot of information about the drive train as well, and if one wanted to see this one would want to probably check the drive train notes. 

We have a new design constraint of 5.5 inches lengthwise that we need to account for. Also, we still haven't done accurate math taking into account all the forces that we need (from the piston, and then pushing back on our brace bar, and also from the cable on our plate that connects to the back brace. We haven't found all our parts nor have we exactly designed our apparatus so we still need to complete this.

We need to come up with a detailed sketch of our apparatus, and if possible, actually order some of the parts that we need (and find them if we haven't already), such as the pistons and the clevis assemblies and possibly triangle brackets. We are planning to machine our plates and stuff, and if we get that far in design we might even be able to buy the bolts that we need.

hell to the yeah yo