Linear and Rotational Motion Systems

At the joint where the cup assembly meets the chassis there is a design challenge. How do we fix rotation to the servo gear while fixing linear displacement to the linear actuator. We needed a two degree of freedom joint (one linear and one in rotation). As an added constraint, we needed our pneumatic system to run through the center.

Our solution was novel. We bored 6 grooves vertically in a pipe held by bearings and drove a hex-bolt vertically in that pipe.