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Figure 1. Final Prototype Operation
Figure 2. Final Prototype Demonstration
Final Manufacturing and Bill Of Materials
The final list of materials used and their specific manufacturing methods are included in the following table.
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Manufacturing and Materials
Part Name | Quantity | Method | Material | File Name / Note |
Standoff | 5 | 3D Print | PLA | Standoff.3MF |
Base Spacer | 1 | 3D Print | PLA | Base Spacer.3MF |
Base Corner Spacer | 4 | 3D Print | PLA |
Base Spacer.3MF | ||||
Link - Green | 1 | Laser Cut | 1/4in Acrylic | TestLinkGreen.DXF |
Link - Cyan | 1 | Laser Cut | 1/4in Acrylic | TestLinkCyan.DXF |
Ternary Link | 2 | Laser Cut | 1/4in Acrylic | TestLinkNavy.DXF |
Link - Pink | 1 | Laser Cut | 1/4in Acrylic | TestLinkPink.DXF |
Link - Red | 1 | Laser Cut | 1/4in Acrylic | TestLinkRed.DXF |
Ground | 2 | 3D Print | PLA | Ground |
.3MF | ||||
Ternary Ground | 1 | 3D Print | PLA | Ternary GroundV2.3MF |
Base |
2 | Laser Cut | 1/4in |
Acrylic | base.DXF, bottom base.DXF | |||
12V DC Motor | 1 | Inventory | Hardware | For driving the mechanism |
12V Power Supply | 1 | Inventory | Hardware | For powering the motor and Arduino |
Arduino Uno | 1 | Inventory | Hardware | For controlling the system |
L298N Motor Controller | 1 | Inventory | Hardware | For controlling the motor |
Potentiometer | 1 | Inventory | Hardware | For controlling the motor speeds |
22 AWG Jumper Wires | 9 | Inventory | Hardware | To connect all hardware |
Shaft - 57.7mm | 1 | ME Machine Shop | Steel | Joint 1 |
Shaft - 70mm | 1 | ME Machine Shop | Steel | Joint 4 |
6mm Ball Bearings | 2 | Inventory | Hardware | Joint 4, Joint 7 |
M6 Spacer - 15mm | 2 | 3D Print | PLA | M6_Spacer_15mm.3MF |
M3 Spacer - 10mm | 2 | 3D Print | PLA | M3_Spacer_10mm.3MF |
M3 Spacer - 5mm | 2 | 3D Print | PLA | M3_Spacer_5mm.3MF |
Crank Handle.3MF
M3x20 Screw | 14 | Inventory | Steel | Standoffs |
, Grounds, Electronics | ||||
M3x30 Screw | 2 | Inventory | Steel | Joints 2 and 6 |
M3x35 Screw |
12 | Inventory | Steel | Standoffs, Joints 3 and 5 |
M3 |
Locking Nuts |
4 | Inventory | Steel | Joints |
M3 Nuts |
24 | Inventory |
Steel | Standoffs |
and Ground |
Joint 7
Movement
In the two videos, the full revolution of the mechanism is shown. When the crank is rotated, there is a distinct "flicking" motion as estimated by our kinematic analysis. The flicking motion occurs at the bottom of the revolution of the joint 6.
Notes for Final Prototype
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M3 PTFE Plastic Washers | 14 | Purchased | PTFE | Joints |
M6 PTFE Plastic Washers | 2 | Purchased | PTFE | Joint 4 |
M6 Shaft Collar | 2 | Purchased | Steel | Joint 4 |
Rubber Golf Tee | 1 | Purchased | Rubber | For ball |