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Many currently used automated can openers require user input to open a can. We need a can-opener mechanism that will autonomously locate the tab of a can and open it with adequate force. The complexity of our design stems from determining the correct link lengths, angles, and force such that the 'end-effector' or tip of our mechanism will consistently translate and rotate to pull the tab of the can open. The use of simple joints is not suitbale suitable to accomplish this task because we need linkages that have enough compliance to achieve desired angles while maintaining structural integrity to lift the tab and open the can.

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Perform position and force analysis on the 4-bar mechanism to position the end effector to be under the tab of the can and lift the tab
Fabricating Fabricate mechanism and develop hardware and software systems to achieve the proposed motionwith appropriate hardware to interact with the tab of the can
Program the software to control the end effector position and force to lift the tab of the can

Analysis will focus on determining the kinematics of the linkages and the joints needed to move to and under the tab, as well as the force to lift the tab. Since there will be multiple mechanisms connected in series, the workspace of each joint and the end effector and it's relation to the first grounded link will determine the dimensions of the fabrication for the solution. The force of the end effector should be able to only lift the tab and not add any other force additional forces to disturb the system. In addition to the mechanical structure of the solution, the code for the electronics must account for both the position and the force applied. This will be determined once the relationship between the motor’s properties and the desired parameters for our system are clearly defined.

Currently, our team is eager to fabricate this solution with the goal of finding a certain fabrication technique that is best to maintain durability while performing this unique movement pattern. We hope to find a solution that best suits our needs for this project as well as the needs for using this solution in the real world. Additionally, [Pull something from the intro and summarize]many of our team members are interested in continuing this project as this solution is very helpful to them with their canned beverage. We strive to complete this solution and hope to improve on certain areas for future iterations.

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We have utilized MotionGen to mock up a few potential 8-bar geometries that could generate the position profile that would scoop under the tab and push it upward. These linkages are shown below. The video shows the first mechanism in motion. In addition to this 8-bar, the end effector link would have a tip that can be pushed back when the link meets the top of the can, and as the link meets the tab the interaction locks the tip into place.Image Removed. This effective variation in compliance of the tip would allow for more flexibility for getting under the tab, but also ensures that the link is rigid enough to impart maximum torque.