Brainstorming - Can't Do This

The Can't Help Myself Robot consists of some complicated motion because it has

1) A Rotational Base

2) 3 Vertically Rotating Joints

4) 1 Horizontally Rotating Joint

Many of these functions are to give the robot a more complex range of motion and allow it to have "personality", we decided to focus on purely the sweeping motion as well as rotating the base.

The motion we are aiming for can be broken down into 2 mechanisms

1) A Rotational Base

2) A linkage system that replicates the sweeping motion

Both of these mechanisms need to run using the same motor.

Rotational Base

We chose to use a bevel gear system that would be mounted to the platform to spin a base on which the linkage/mechanical system would sit on

Linkage System

While working on a linkage system that would give us the desired sweeping motion, one of our TAs Sid recommended we look into a Klann Mechanism.

The Klann Mechanism is a linkage system that is commonly seen in walking robots because it replicates the gait of legged animals.

We decided to use this mechanism because the motion at the bottom of the loop is close to horizontal and then the motion loop lifts vertically before moving forward and repeating this loop.

This is very close to the sweeping motion done by the robot when it wipes the oil back toward itself.