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In this project, we successfully created a small-scale prototype of a device that can dispense toppings over a round plate using a single stepper motor. The stepper motor translates power to three output motions, and the device can run at a variety of speeds. We learned that it is important to be ready to pivot your design plans if assembly reveals any issues with the design. We adapted well to this issue and completed a successful designthe issues we faced and succeeded in building a working prototype.
Future Work
The current version of the device could be significantly improved by replacing the crank slider mechanism with a substitute that produces a velocity profile more conducive to the application. If the goal of the robot is to distribute the topping evenly, then the linear slider should spend more time distributing toppings when there is more area to distribute across. In other words, when the topping container is closer to the edge of the turntable, the circumference over which it is distributing the topping is larger, and thus is should remain there for longer. Towards the center of the turntable, the container should spend the least time, since the area to distribute over is smaller.
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