Final Prototype

Second Iteration

In our final prototype we ultimately doubled the lengths of our links achieving a near two foot extension. With the extra length came extra material that resulted in a greater required torque to allow the mechanism its proper designed path of motion. Due to the extra necessary torque the original plan of running the mechanism via a servo was replaced with a 100:1 DC motor. This replacement added a little more weight and required a greater power supply which we could no longer mount onto the mechanism itself and simply left to be separately held. A handle was 3D printed and used to store the batteries running the gripper.

Future Plans

 After having some more time with the final prototype and receiving positive feedback and interest from Javier, we plan to implement the following changes with the goal of it being fully functional and useful in his everyday life.

• Correct the code to better regulate the motion of the mechanism and allow for smooth transitions between fully extended and fully retracted

• Include feedback control loop for accurate arm positioning and movement

• Design a better fitted handle to fit inside Javier’s hand allowing more support from his wrist in addition to a longer ground link which will securely and comfortably velcro to his forearm providing more support for the mechanism

• Implement a way to supply the DC motor with power without restricting the mechanisms mobility

• Create necessary attachments or compartments to store the Arduino and better organize the connections to allow as much freedom as possible

• Come up with a more convenient control for operating the mechanism and gripper

Gripper with springs in action

Actuated final prototype in action