Programmable Surgical Arm — Engineering_▢✕
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Drawing ARM-008 · Entry 08 · 2024

Programmable Surgical Arm

Robotics & Controls · Principles of Engineering (POE)
Complete

A build-and-program robotics task: design a robotic arm and its control program to move an object from near the ground onto a raised platform, picking between design and program options with decision matrices.

The task

  • Retrieve an object positioned 1 inch above the ground and place it on a platform elevated 7 inches.
  • Deliver both a working physical build and a control program that fulfills the function reliably.

Design selection

  • Scored two physical designs on effort, buildability, human input, and practicality — Design 1 won (29 vs 27).
  • Scored two programs on complexity, likelihood of mistakes, and effectiveness — Program 1 won (22 vs 15).

Control sequence

  • Close the claw around the object at 25% velocity, then pause 0.8 s and stop.
  • Raise the arm at 3% velocity to −90°, then a “Move” broadcast drives the screw-gear motors to rotate the arm.
  • After ~7 s of positioning, lower the arm 60° and open the claw to release the object at the target.

Results

DecisionOption 1Option 2
Physical design29 ✓27
Control program22 ✓15

Decision-matrix scores (Option 1 chosen in both)

Specifications

Task:Pick @ 1 in → place @ 7 in
Selection:Weighted decision matrices
Actuation:Claw + screw-gear rotation
Program:Timed grip → lift → rotate → place
Course:POE 1B · §3.1.7
Tools:VEX roboticsSequential controlDecision matrices

Attachments

Surgical arm slidesOpen ↗

Decision matrices, isometric sketch, and program logic.

Complete · Designer & Programmer, scale 1:1 (VEX)Robotics & Controls