Conclusion

Even though the gripper mechanism closes at a very slow rate, the project was an overall success. The design was backed up with a position and velocity analysis. Splitting the final mechanism up into two-parts was a fun challenge, especially for Mechanism A which had an input that was a linear travel (not an angular travel as was all of our homework assignments in class). While the build was challenging due to inadequate or sparse components and tools, it was a good lesson in industriousness. The importance of preliminary analysis in support of a successful testing phase was also ingrained in my mind due to the issues with the initial stepper motor chosen to input motion into the system.

Future Work

Below are some features and tasks that I would have like to accomplished had time permitted.

-use PMKS (Planar Mechanism Kinematic Simulator) to calculate position, velocity, and acceleration of linkages in most standard mechanisms.  This could have verified my Matlab analysis, as well.

-acceleration calculations of mechanism links and interacting point of gripper

-modifications to 3D print of threaded rod (link 3 of Mechanism A), such as inset of a nut into both side of the center region in order to make the mechanism more robust.

-eventual replacement of threaded rod with a slew drive mechanism

-revise design of Mechanism A link 5 to make it so that the joint, which is the connection between the first and second mechanism is better supported, keeping the bearing from sliding up and down the shaft during motion.

-replace bolts and nuts used to attach links with either pressed fit shafts or loose fit shafts with collar snap rings

-replace the servo with a DC motor to allow for faster closing and opening of the gripper. 

-possible integration with the quick release mechanism that Frank Regal and Kevin Torres were working on. This would be a good way to combine projects together for an actual use case, such as flipping water bottles.