Tracing a complex continuous curve requires high repeatability. To achieve this, the design and manufacturing requirements called for low tolerance and high quality joints. The linkage joints used the provided bearings, shafts, and retaining clips as well as washers to minimize axial friction. This joint design was tested on two previous prototypes and proved satisfactory.

 Picture of joints?

To scale up the drawing window of the mechanism, the link lengths were also scaled up. To maintain sufficient stiffness and to improve the stability of the joints, the links were made out of water-jet cut aluminum. The water-jet process was ideal for making this mechanism which consists of arbitrary planar geometries.

The cam axle/bearing assembly was designed to minimize friction and eliminate play.  An aluminum stand off holds a second bearing away from from ground plate to help resolve moments, and the input shaft is threaded for a lock-nut which pre-loads the bearings and removes any play in the system.

The ground plate was made of plasma cut steel sheet

• Used water jet to cut complex cam curvature and links

• Used plasma cutter for ground plate

• use of numerically controlled processes allowed precise hole location, but poor hole quality

• addressed this by undersizing and drilling to size

• Press fit shafts and bearings into links for robust and smooth joints

• Coupled motor to cam plate with shaft and bevel gears

• Found proper springs to provide enough tension to keep followers in contact with the cam throughout the range of motion