Design Details
Our project would not be successful if it were not for the multiple iterations we designed and tested along the way. In this section we will show our hardware, electronics, and software development that got us to our final build.
Hardware:
Mechanism Fabrication
We transitioned from just rods to hold our mechanism together to rods with bearings to accomplish smooth motion and hold our mechanism together. [DONT NEED THIS _> THIS
Figure 1: One of our original prototypes that used rods to hold our links together.
Figure 2: Updated version of our design with customized rod lengths and bearings to allow smooth motion.
End-Effector
Prototype #1
Figures 3 & 4:
Prototype #2
Figure 5:
Prototype #3
Figure 6:
Can-holder
We utilized the TIW's 3D printers to make our can-holder. The key to this design is the tolerance between the can and the holder, as we needed to make room for rubber stripping that prevents the can from rotating our slipping when the tab is lifted.
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Motor
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Mechanism holder
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Electronics:
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Software:
For our software, we needed the motor to run continuously, so developed at code that turn on the motor at highest speed for a long time so that multiple cycles of the position profile can be made.
