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Our design will feature 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
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Example of the Galloway Mechanism in motion (click photo to view motion):
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For application purposes, we have included the following diagram to identify the inputs and outputs.
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.
The casting motion will be generated by a combination of mechanisms. ..
Mechanism 3: Casting Motion
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In order to ready the rod (move backward) and cast (whip forward) the input angular velocity to the reciprocator will need to be to be variable. This will be accomplished using a uniform angular velocity to variable angular velocity mechanism as demonstrated in the YouTube video below. The output or driven component will rotate on the same axle as the input to the reciprocator (Mechanism 3).
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