7.4 Implementation

BOM

All of the components listed will be obtained through TIW.

Fabrication and Assembly

Linkage Plate Assembly

Assembly Instructions

1. Cut 9 linkages of the following lengths, each of which with 13mm diameter holes cut in each end
1. 2 - 8.25in Links
2. 4 - 2.83in Links
3. 1 - 3in Link
4. 1 - 4.5in Link
5. 1 - 1.25in Link with one of the holes only being 6mm instead of 13mm
2. Laser cut three spacers each with an inner diameter of 6mm
3. Insert the ball bearings into each of the 13mm holes in the links
4. Cut 8 sections of the 6mm axle with each of the following lengths and quantities
1. 4 - 0.5in Axles
2. 2 - 0.75in Axles
3. 1 - 1in Axle
4. 1 - 1.25in Axle
5. Laser cut the baseplate according to the specifications given
6. Insert the 1.25 in and 2 - 0.5in axles into the holes specified
7. Insert the three spacers onto the 1.25in-axle
8. Insert the 3 in link onto the axle closest to the 1.25
9. Insert the 6mm end of the 1.25 in link onto the other 0.5in axle
10. Insert the 1in axle into the other end of the 3in link
11. Place first the 4.5 in link then 2 of the 2.83in links onto the 1in axle
12. Insert one of the 0.5 in axles onto the other end of the 1.25 in link and then put the other end of the 4.5 in link onto it
13. Insert the 0.75 in axles onto each of the 2.83 in links and attach a 2.83 in link to that axle
14. Take a 0.5 in axle and insert it into one of the open ends of the 2.83 in link then attach it to the open end of the other link of the same length
15. Finally, connect one end of each 8.25in link to the end of each 0.75in axle and attach the other end to the 1.5in axle

Shaker Holder

We decided to 3D-print the holder because of the complicated shape. The hole seen at the bottom of the holder is where a shaft connects the holder to the end of the linkage. To test how well the holder worked, we vigorously shook the holder with the shaker inside to mimic the worst-case scenario.

When attaching the shaker holder to the linkage our team found that we did not make a long enough base plate. To solve this problem we glued wood to the bottom of the shaker holder to make sure the bottom of the holder make contact with the bearings. 

Stand Assembly

We glued the pieces of the stand together because it was easier than taping holes for screws because the wood is thin. Wooden spacers were used to keep the linkage plate in line with the cam. We also had to add tape on the left of the base as seen in the picture below because the linkage plate would go too far to the left and fall over. A shaft is placed through the front plate, linkage plate, and back plate of the stand to create the pivot point.

Electronics

The motors were attached directly to the linkage plate and stand using screws. We then connected each motor directly to a battery. 

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