Preliminary Design
During the prototyping phase of this project, the team brainstormed multiple mechanisms that would provide clean sweeping motions. The team determined that a figure 8 motion path would achieve the best results when cleaning a glass. To achieve this motion the team initially proposed a slider crank mechanism alongside a scissor lift to vertically move the slider crank. This slider crank mechanism would allow sponges to rotate in a circular motion, and the scissor lift will be synced to provide the desired figure 8 motion path.
Figure 1. Preliminary Design
Initial Prototype
While the preliminary design would achieve our desired motion path, the team decided syncing the slider crank to the scissor lift would be too complicated to implement. The team instead decided to opt for a geared five-bar mechanism.
Final Prototype
(Changed link lengths, designed a base)
Final Design
(Added Spacers, Connected Servo and DC Motor, removed front legs from base)