Mechanical Design



Cherrypicker Design



Both arms are driven by timing belts and pulleys. The shoulder motor is mounted to the central post, and the elbow motor is mounted to the first arm. The tip-over protectors deploy when the system operates in an unstable region.





Worm gears enable the slewing motion. Bearings provide support for this motion.




Design Tools



Several design tools were used to evaluate needs and engineering requirements.




Cherrypicker at MIT





Other Media