Conclusions and Future Work - Can't Do This Anymore

Starting with what went well in this project

1) The linkages worked very smoothly and completed the desired sweeping motion

2) The custom pin joints turned out very well and did not have many issues

3) The base with the ball bearing design had little friction

4) Overall the robot is close to achieving our goal of achieving sweeping and rotational motion with a single motor

Now moving on to what didn't go well and could use improvement

1) The bevel gear system was too high friction and caused a lot of problems for the motor because it used so much torque

2) Large oversight on our part, we accidentally made the bevel gear ratio 1:3 and the spur gear ratio also 1:3 so the sweeping motion doesn't sweep the whole base

3) The linkages could be better supported if we added a plate/mount on the other side, this would also reduce slop and play in the joints

Overall this was a pretty fun build and taught us a lot about designing linkages as well as manufacturing them with specific constraints and goals.