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The speed at point B was plotted against the range of theta 2 that is expected to occur within our mechanism when it is in action at an angular velocity of 10 degrees/sec.

Initial Physical Prototype:

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Here is our first prototype of our mechanism. Although the gears are not grounded in the picture, we were able to create the proposed path from above. Laser-cut gears and links and used M3 nuts and bolts to bring together the prototype. We do plan to do multiple iterations in the coming weeks to test out different link lengths and find a ratio that gives us a larger surface area. A thought we have is to add a rack and allow the gears to move back and forth along it. This would increase the surface area and give us a greater challenge regarding our mechanical components.

Bill of Materials:

This table includes all materials that have currently been purchased. Materials will be added as we purchase them.

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Swept Area Analysis:

In order to ensure efficiency with our robot we wanted to determine the total area that would be cleaned by the moving squeegee arm. Below is a drawing of the expected area that is to be cleaned.

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To calculate this we have to determine the dimensions of the ellipse that is formed around our figure 8 path. To do this we used measuring tape to determine the major and minor axis lengths with our final prototype. We moved our gears to simulate the path and made markings at the edges of the ellipse. From here we were able to easily take our ellipse dimensions. 

Ellipse Dimensions:

Now we have to consider the extra area that is cleaned by our extended squeegee arm. For this we can just add the squeegee arm length to the major and minor axis lengths. With a squeegee arm length of 4 inches we can add that to our the axes lengths.

Ellipse Dimensions with Squeegee arm

Now we just have to use the area of an ellipse formula to solve for our area. Here a = major axis and b = minor axis. 

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Solving for the area, our robot should theoretically clean 345.17 in² of a given surface.