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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 coupled with a reciprocator to rotate the rod forwards and backwards. This will be detailed further in our preliminary design below. For the 360 degree rotation of the rod, we will use a slider crank connected to a servo.
Proposed Scope of Work:
Our proposed scope of work is to design and simulate a robotic fishing rod mechanism with a focus on the complex motion and force profiles necessary for casting. The mechanism will be capable of a controlled 360-degree rotation, emulating the natural motion of casting a line, and will include a novel linkage system to manipulate the bail for both casting and reeling. The design will need to account for the differential speeds required for the backward and forward motions of the cast, ensuring a slow preparatory draw back and a rapid, forceful forward cast. A combination of rigid and non-linear linkages will be explored to achieve the varied angular velocities needed. Analysis will be conducted on joint forces, dynamic loading, and torque requirements to support the rod during casting. Our deliverable by the end of the semester will include a comprehensive kinematic analysis, a simulation model of the casting motion, and detailed mechanical design specifications. We plan to leverage the knowledge acquired in our coursework to design a system that can be actuated with minimal user input, focusing on the mechanical complexities rather than electronic controls in this phase.
Preliminary Design Ideas:
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