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The backboard or ground for the linkage system was cut from 6mm plywood and designed with grooves for the rest of the stand to be attached. The input link shaft used a press-fit bearing to allow the shaft to spin the link, while the rest of the grounded joints were press-fit to 6mm shafts on the back plate. The stand consisted of the from backboard, four legs, and a shelf. We decided to add slots to each of the legs and backboard to allow for the distance between the cup and end effector to be adjusted for shorter cups. Each slot had an L-bracket to help stabilize the stand when the baseplate was raised. The shelf was designed to house the electrical components of our mechanism. To
Figure 5. Completed stand to support mechanism (left) and shelf to house electrical components (right)
Electronics
To support our mechanism we required a 12V brushed DC motor that was driven my the L298N motor controller. A button was added to control the 12V power supply which allows users to turn the mechanism on and off at their command. The electronics were housed a shelf behind the backplate of the mechanism that held mounts for an Arduino Uno, L298N motor controller, and motor.
Figure 5. Completed stand to support mechanism
Figure 6. Shelf to house electrical components6. Wiring Diagram of electronics
Final Design
Figure 7. Final Assembly with elevated baseplate for small cups and grounded baseplate for taller cups.
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