The intial CAD for this project was borrowed from
Figure 1: Initial CAD Borrowed from Research Paper and Altered
Figure 2: Prototype No. 1 - Failed due to lack of link thickness tolerancing
Figure 3: Prototype No. 2 - Failed due to lack of ROM of end-effector
Figure 4: Initial Design 2, simplified linkages
Figure 5: Prototype No. 3 - Updated prototype with simpler linkage design, higher ROM
This prototype had several benefits over the previous one. First, it was better toleranced and assembled more easily since we standardized all the bolt sizes to M3. Secondly, it had a greater range of motion due to the lack of a bolt going across the middle connecting Link 2 to Link 4, which was previously hitting the mechanism and stopping it. Finally, it was overall simpler to manufacture and assembly. Going forward, this is the basic design we will be using for our
Table 2: Projected Bill of Materials for Final Project