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These are the DXFs for our base:
Figure 2223: Base DXF's. Note: not all figures to scale.
For the motor mount, we laser cut a vertical holder and 3D printed a base to rest the motor on.
Figure 2324: Motor mount DXF and 3D printed support.
Figure 2425: Linkage DXF that connects the motor to the full mechanism.
Figure 2426: Cup holder DXFs.
We used 6 mm rods to connect our cup holder to the joints of the links of the 4 bar to allow it to rotate with the mechanism. We used M3 screws and lock nuts to assemble the holder. We used 6mm ID bearings to allow for rotation and reduce friction.
Figure 2527: Close shot of the final assembly of the cup holder mechanism.
We assembled the four-bar by connecting the joints using 3M screws and lock nuts. We also had two rubber bands to help the lifting mechanism operate with limited torque. We press fit bearings into the rotating arm. We cut a special slot into the input link so that our motor shaft can rotate the link. We attempted to use a higher torque motor, but the resulting electrical issues caused us to return to the lower torque, 100 RPM motor, and usage of rubber bands to supplement the decreased torque.
Figure 2628: Image of the full final assembly.
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Below is an image of the finalized electronics elements of the design.
Figure 2729: Close up image of the electronics configuration.
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Below is the C++ code uploaded to the Uno.
Figure 2830: Code running to control the mechanism.
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