Nessie

Nessie weighs roughly 120 pounds and utilizes pneumatic and 12v DC power. Her frame and manipulators are all aluminum. The tote fork is powered vertically by a CIM mounted to a 16:1 reduction box and utilizes a 3in bore 1in stroke pancake cylinder to keep totes level. Her onboard 90CFM air compressor pumps out 120psi into two Clippard air tanks, which is then regulated down to 60psi before being sent to the pneumatic actuators via 12v DC 0.10CFM solenoids. She uses four 12v DC brushed CIM motors to power her power-slide drive, these motors are controlled by four Talon SR speed controllers. One 12v DC server fan is used to cool the air compressor. Her sensors include an Axis IP Camera for better visibility around tote stacks, and two ultrasonic sensors for automatic tote lineup. Nessie's "Brain" is the National Instruments RoboRIO which is programmed in C++. We can control Nessie via a laptop computer connected to her onboard 5v DC D-Link wireless router. Any questions? Please ask!