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Figure 1: Updated version of our design with customized rod lengths and bearings to allow smooth motion.
End-Effector
Figure 2:
Gear System
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Figure 3
Can-holder
We utilized the TIW's 3D printers to make our can-holder. The key to this design is the tolerance between the can and the holder, as we needed to make room for rubber stripping that prevents the can from rotating our slipping when the tab is lifted.
Figure 34
Motor
Figure 45
Mechanism Holder
Eric add the pic*
Electronics:
Figure 56
Software:
For our software, we needed the motor to run continuously, so developed at code that turn on the motor at highest speed for a long time so that multiple cycles of the position profile can be made.
Figure 67