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This semester, our team had a goal of creating an automated water juggling mechanism, the Tipsy Juggler, that would transport water or other liquids from one cup to another using a closed-loop feedback system measuring the angles of the cups to determine the necessary motion to complete the task. While the cups we placed onto the mechanism were able to follow the desired and predetermined pathway, the motion was too harsh and forceful to the point where the links holding the cups hit the system and causes errors in the motion. We are able to manually control the motion to the desired speed and reactions, but additional steps are needed to have the system work autonomously with the closed-loop feedback set up since it is still too harsh.
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