Week 7

Shakedown Testing

This week primarily focused on preliminary shakedown testing and early redesigning to better prepare us for the upcoming manufacturing phase.

Kinematics Calculator

  • Gavin has put in a considerable amount of work in creating a MATLAB based calculator for possible linkage lengths for our robot. 
  • This program is able to iterate through different combinations of linkage lengths and denote which are theoretically viable in achieving our 15" x 18" "playing field" area.

  • The product of the program can be seen below, in which the populated cells are the viable linkage length combinations.

Initial Testing

  • Before any testing, parts were manufactured via acrylic laser cutting to allow differing linkage lengths and combinations.

  • The beginning of testing consisted of setting up our manufactured parts into the linkage configuration to ensure such motion was possible, then setting up a coordinate plane with graph paper.

  • After our initial setup, it was apparent that our original protocol needed to involve the newly made calculator and the linkage lengths produced, requiring subsequent extra setup.

  • A large majority of the testing was then dedicated to new details not yet addressed, such as the physical location of the playing field within the total available range of the linkage arm, distance of the playing field from the base of the robot, and the optimal mechanical advantage provided by the specific linkage configuration.
  • Below is an example of one of the discussions on how to position the playing field box in the overall arm reach.

Notable Future Work

  • As this week was mostly concerned with kinematics, the kinetics of the system are going to be a main focus very soon that a holistic view of the linkage configuration can be achieved, and that motors and other parts can be ordered accordingly.

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