Turntable Arm

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Turntable Arm

The VEX Turntable Arm was created as a robot to demonstrate the capabilities and uses of the Turntable Bearing Kit released in April 2011 at the VEX Robotics Competition World Championship. The arm was based off of industrial arm robots which often use low-friction, high-load bearings in applications with lots of side load.

VEX Turntable Arm Specifications

  • Stationary Chassis
    • Composed of (2) Base Plates
  • 5 Degrees of Freedom
    • First Degree
      • (1) Large Turntable Bearing
      • Powered by (1) VEX Motor 393
      • Flush Mounted to Base Plate
    • Second Degree
      • (2) Large Turntable Bearings
      • Powered by (2) VEX Motor 393s
      • Parallel Mounting for Stability
    • Third Degree
      • (1) Small Turntable Bearing
      • Powered by (2) VEX Motor 393s
      • High Strength Chain Drive to Joint for Low CG
      • 1 Stage Reduction (12:60)
    • Fourth Degree
      • (1) Small Turntable Bearing
      • Powered by (1) VEX Motor 269
      • 1 Stage Reduction (36:60)
    • Fifth Degree
      • End-Effector utilizing VEX Claw Kit
      • Powered by (1) VEX Motor 269
  • Multiple Sensor Feedback
    • Used for software hardstops in Turntable Arm motion
    • VEX Potentiometers on Degrees 1, 3, and 4
    • VEX Accelerometer on Degree 2
      • Specialized algorithm to detect tilt angle

Ideas for Future Revisions

  • Aluminum Framework
    • The heavy steel framework currently makes the Turntable Arm difficult to drive.
  • Autonomous Functions
    • Use the sensors on each joint to create autonomous routines for demonstrative purposes.
    • Add the VEX Gyro to the system in place of the potentiometer on the turret joint.
  • Co-axial Wrist Function
    • Add a sixth degree of freedom as a wrist joint for the VEX Claw.
    • Use the VEX Motor 269 and the Small Turntable Bearing's co-axial ability at the joint of Degree 4.
  • Re-route Cables
    • Use the Large Turntable Bearing's co-axial ability and route the cables through the center of the turret joint rather than down the side of the chassis.