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To solve our problem, will we integrate three different mechanisms, all grounded to a fishing rod mount. The mount will attach to the end of a table or dock, similar to when a rod is resting on a boat. Our design will need to have two different functions, one to cast the line and one to reel it in. We will use two separate servo motors for each of these functions. The reel mechanism will resemble a four-bar linkage, with one junction grounded to the motor and one junction grounded to the reel handle. The casting mechanism will feature 2 functions, the forward-backwards whipping motion of the rod (planar motion), a 360 degree rotation of the rod to pick different areas of the water to cast. For the planar forwards/backwards whipping motion, we will use a gear train to achieve a variable speed of the forward/backwards motion motion coupled with a reciprocator to rotate the rod forwards and backwards. This will be detailed further in our preliminary design below. 

Proposed Scope of Work: 

Preliminary Design Ideas: 

Our design will feature 3 4 different mechanisms to perform 2 different functions: Casting and Reeling. We plan to use three 360 continuous rotation servo motors, one will be used to control the Reel Mechanism and two to control the Casting mechanism. All mechanisms detailed below will be grounded to a mount for the casting rod. 

Mechanism 1: Reeling the Line

For the reel mechanism, we will use a Galloway Mechanism. This mechanism takes one full rotation of the input link and gives two full rotations of the output link. This will allow us to reel in the line faster while using less power from the motor. Another important aspect of the reel mechanism will be the torque provided to reel in a fish. This will need further analysis, but is an important design consideration. 

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 Example of the Galloway Mechanism in motion:

Mechanism 2: 360 Rod Rotation

Pictured below is the base of the robot. The rod will be mounted in the center of the circle attached by two links to a rotation servo for the 360 degrees of motion. 

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The casting motion will be generated by a combination of mechanisms. 

Mechanism 3: Variable Speed Casting Motion

The mechanism that will connect to the rod is a reciprocator. However, instead of the final output being alternating lateral motion, the final output (the slot wherein the rod will fit) will be 

Mechanism 4: