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Since we knew that the use of 3D printers and laser cutters in TIW were relatively inexpensive we chose to design the majority of our mechanisms with these materials. We used an acrylic sheet for our base because it is sturdy, can be cut with the laser cutter, and allows a viewer to see all internal mechanisms/view the project from both sides. We laser cut the majority of our links and gears with plywood because it was very inexpensive, accessible, and strong enough for our application. The remainder of our links, particularly those that needed three-dimensional geometry, were designed in Solidworks and printed using 3D printers supplied in TIW. Some fasteners and standoffs, the Geneva mechanism, as well as the bottle holder were also 3D printed. Finally, our bottle opener, bearings, and the remainder of fasteners such as bolts, nuts, and washers were bought off of Amazon because the shipping was very quick and the parts were inexpensive.

2.3 Actuator Development

XXXTable 1. Actuator Development