Figure 1. Initial Construction of Prototype
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Figure 2. Initial Path Output of Prototype Figure 3. Figure 4. xx Initial CAD of Casting Mechanism Figure 4. Modified Path Output of Prototype
Figure 5. Final CAD of Casting Mechanism
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The output link initially had a slider but after testing and analysis, it was concluded that a bearing connection was more effective.
Figure 6. xx Iteration 2 of Output Link Figure 7. xxIteration 1 of Output Link
Ground Link
The slot for the slider in the ground link had to be adjusted to connect to the position adjustment mechanism. The slot had to be wide enough to fit the output link of the position adjustment mechanism and the connector rectangle.
Figure 8. xxGround Link Dimensions
Figure 9. xxCAD of Ground Link
Link 3
Link 3 also had to be adjusted to connect to the position adjustment mechanism. It stays at a fixed angle during motion, so the angle was determined using the geometry of the casting mechanism and a slot was added at the corresponding angle for the connector rectangle.
Figure 11. xxIteration 1 Link 3
Figure 10. xx Iteration 2 Link 3
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This rectangle was used to achieve 3D motion by connecting the position adjustment mechanism (XY plane) with the casting mechanism (ZY plane) while maintaining the angle of link 3. The casting mechanism link 3 had a rectangular slot at a 45° to be able to attached to the positional adjustment mechanism ground link perpendicularly.
Figure 12. xxCAD of Connector Rectangle
Final Casting Mechanism
The final design shows the results of iteration. The ground link and link 3 were adjusted to connect to the position adjustment mechanism and the design iteration of link 4 (output link) with a bearing was chosen for the final prototype.
Figure 13. xxConnector Rectangle in Housing
Positional Adjustment Mechanism
Original design, using a linear actuator as input:
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Figure 14. xxInitial Design Sketch: Linear Input
First iteration of rotational input:
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Figure 15. xxInitial Design Sketch: Rotational Input
Final CAD of Prototype (Connection between our two mechanisms not pictured, connector rectangle):
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Figure 16. xxFinal CAD of Prototype
Bill of Materials
Most of the parts needed for this project are provided by the RMD class or can be purchased at TIW. There are two items that will need to purchased for the fishing rod, the fishing wire and a linear actuator. In our initial brainstorm, we were considering using the linear actuator to translate between the two planes of motion for the design. However, during the prototype phase, we were trying to find a solution before purchasing the linear actuator.
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