http://wikis.swarthmore.edu/ENGR005_2008/api.php?action=feedcontributions&user=Jmarti1&feedformat=atomENGR005 2008 - User contributions [en]2019-07-21T00:01:29ZUser contributionsMediaWiki 1.26.3http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Piano-Playing_Robot_Arm&diff=1973Piano-Playing Robot Arm2008-12-04T05:57:57Z<p>Jmarti1: New page: The Piano-Playing Robot Arm, AKA BachBot, is Jonathan Martin's final project for E5. The BachBot, controlled via MatLab, plays single notes of specified pitch and duration on a keyboard. ...</p>
<hr />
<div>The Piano-Playing Robot Arm, AKA BachBot, is Jonathan Martin's final project for E5. The BachBot, controlled via MatLab, plays single notes of specified pitch and duration on a keyboard.<br />
<br />
==Concept==<br />
<br />
I got the idea for the BachBot during the Robot Arm lab. I thought that having a robot arm draw with a pencil was cool, but I knew that it could do so much more. I decided to turn the pencil into a "finger" that could press down, allowing it do play a piano. I would replace the pencil holder with another servo that would rotate vertically. Then, to make the "finger" move in an up-and-down motion rather than a circle, I would attach pencil to two rods, one attached to the servo and the other to a free wheel directly below the servo, which would keep the pencil vertical. I would then write a MatLab function that would tell the servo to play a note of certain pitch and duration, by converting the pitch into a location on the keyboard and converting the duration into a pause in between the "finger" lowering and raising.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Final_Project&diff=1972Final Project2008-12-04T05:43:21Z<p>Jmarti1: </p>
<hr />
<div>=ENGR 005, 2008 - Final Project=<br />
<br />
==Guidelines==<br />
The final project for ENGR 005 is self-defined. The guidelines are as follows:<br />
*The project may be a group or individual project<br />
*You may do a project or research report (I prefer project)<br />
*Groups can be up to 4 people – not necessarily from your lab section<br />
*Project can be anything you think you can do in 2-3 weeks (6-10 hours).<br />
*If you need extra supplies (up to about $40) let me know by Monday (11/17) so we can order.<br />
*Research project is OK, but some of your references have to be print-based (i.e., not just URL’s)<br />
<br />
==Suggestions==<br />
[http://www.swarthmore.edu/NatSci/echeeve1/projects.html#E5%20Projects Some project ideas]<br />
<br />
==Project proposal==<br />
*Oral proposal during lab Thursday, November 20th <br />
**by the morning of Wednesday, November 19th, let me know in which lab period (A 11:20; B 1:15; C 2:40) you prefer to give your presentation. If possible, also give me an alternate (in case everybody chooses period A).<br />
*I would like you to give me a paper with name of project, and name of group member(s) on 11/20.<br />
*Presentation is 3-5 minutes by anybody in group (I realize that all group members may not be able to attend due to class conflicts).<br />
**Include:<br />
**Motivation for project<br />
**Description of project, including block diagram with major components (software and/or hardware)<br />
**Time line<br />
**Any equipment required<br />
**Members of group<br />
<br />
==Oral Project Presentation==<br />
===Guidelines===<br />
* The oral project presentation should be from 5-8 minutes in length. <br />
* I recommend powerpoint (or something similar) on flash drive.<br />
* A practice presentation will be given on Thursday 12/4 in Hicks 213 (schedule is below). <br />
** After the practice you will get some immediate feedback that you should use to improve your final presentation.<br />
** The schedule is very tight - if we start to run over schedule, you may not be able to finish your practice presentation.<br />
** Make sure you should up at least 10-15 minutes before your practice presentation is scheduled to start.<br />
** Do at least one practice presentation before Thursday - you should be able to start quickly without discussing who is speaking when....<br />
* The final project presentation will be given on Tuesday 12/9 in Hicks 213 (same schedule).<br />
** The schedule is very tight - if we start to run over schedule, you may not be able to finish your practice presentation.<br />
** I would like you to come to the entire class on Tuesday 12/9 for the final presentations.<br />
* Include:<br />
** Description of the proposed project<br />
** Theory (if any)<br />
** Procedure (including difficulties)<br />
** Results/demo as appropriate (I realize this may not be complete by 12/4)<br />
<br />
===Schedule===<br />
<br />
====Lab A====<br />
* 11:20 Alade / Nicoludis<br />
* 11:32 Balch / Scheuing <br />
* 11:44 Bertaut / Bielenberg<br />
* 11:56 Burger / Chien / Eyerer / Novack<br />
* 12:08 Hunter (also - need to start wiki)<br />
* 12:20 Dyer / Heavenrigh (also - need to start wiki)<br />
* 12:32 Goff<br />
<br />
====Lab B====<br />
* 1:15 Blekicki / Dinh / Edwards <br />
* 1:27 Bowers / D'Annunzio / Silverblatt-Buser <br />
* 1:39 Cabrera / Rutherford / Spector / Williams<br />
* 1:51 Parasrampuria / Chasins<br />
* 2:03 Bhandari, Nolan, Pytlar, Zhao <br />
* 2:17 Saltzman<br />
<br />
====Lab C====<br />
* 2:40 Pollen<br />
* 2:52 Martin (also - need to start wiki)<br />
* 3:04 Koonce<br />
* 3:16 Pezzola / Weiner <br />
* 3:28 Stromme / Weinhold (also - need to start wiki)<br />
* 3:40 Chen / Erturk / Leland<br />
<br />
==Project report==<br />
*Projects will be on Wiki, started by 11/24<br />
*Project Wiki completed by 12/10<br />
*Oral Project Presentation on 12/9 during lab period (5-10 minutes). If it is a group project, presentation must be by somebody other than the person who did the proposal presentation.<br />
<br />
==Teams/Projects==<br />
<br />
'''[[Swat.Solar.]]'''<br />
<br />
[[Disco Board Project]]<br />
<br />
[[Hicks Engine Project]]<br />
<br />
[[Hogwarts Interactive]]<br />
<br />
[[Robotic Arm Duex]]<br />
<br />
[[MatLab Tic-Tac-Toe]]<br />
<br />
[[Roller Coaster Project]]<br />
<br />
[[Robotic Arm 2.0]]<br />
<br />
[[Tomato Slicer]]<br />
<br />
[[Bridge]]<br />
<br />
[[RC Vehicle]]<br />
<br />
[[Dart Blaster]]<br />
<br />
[[Battleship!]]<br />
<br />
==Individual Projects==<br />
<br />
[[Prosthetics]]<br />
<br />
[[Omni Directional Wheels]]<br />
<br />
[[Projectile Launcher]]<br />
<br />
[[Piano-Playing Robot Arm]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1701Robotic Arm: Team Stealth Squad2008-11-17T19:27:13Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.<br />
<br />
===Control Script===<br />
<br />
To draw a circle within a square within a circle, we first created a function to move the pencil to a certain point. To do this, we used our inverse kinematics function from the previous lab to find the necessary angles, then used the function derived in the servo calibration lab to set the appropriate pulse widths. A difficulty that we encountered here was that our inverse kinematics function calculated the angle for the second motor in relation to the x axis, whereas the angle of the upper arm would be in relation to the lower arm. To compensate for this, we added the angle found for the shoulder on to the angle found for the elbow and set the appropriate pulse widths. The function then sent a string with the calculated pulse widths to the servo controller, which then moved the pencil to the appropriate point. Then, we created a function to draw a line from two endpoints and a function to draw a circle from a center point and a radius. These functions were generated by taking the code for the simulations, replacing the values of the line and circle with variables defined by the inputs, and replacing the part that plotted the figure with a loop that sent strings to the servo controller for each point on the line or circle. Then, we created a script that first drew a circle with radius 1, the the lines that defined a tangential square, and then another circle of radius sqrt(2) that circumscribed the square.<br />
<br />
MoveArm.m:<br />
<br />
function [a, b] = MoveArm(x, y)<br />
<br />
s=instrfind; %Find any serial links (we can have only 1)<br />
delete(s); %... and delete.<br />
<br />
%Create a new serial communications link<br />
s=serial('COM1','Baudrate',115200,'Terminator','CR');<br />
fopen(s); %... and open it<br />
<br />
%Set arm lengths<br />
la=4.5;<br />
lb=4.3025;<br />
<br />
%Find arm angles relative to fixed plane<br />
[theta_a, theta_b] = inverseKinematics(la, lb, x, y); <br />
<br />
%Convert to angles to input to servos<br />
a=theta_a;<br />
b=90-a+theta_b;<br />
<br />
%Find appropriate pulse widths for each angle<br />
%(This function was derived in the servo calibration lab)<br />
pw_a=2450-10*a;<br />
pw_b=2475-10*b;<br />
<br />
%Send strings to servos<br />
fprintf(s,['#1P',num2str(pw_a),'T200'])<br />
fprintf(s,['#2P',num2str(pw_b),'T200'])<br />
<br />
ArmDrawLine.m:<br />
<br />
function [xi,yi,xf,yf] = ArmDrawLine(xi,yi,xf,yf)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the line;<br />
numPts = 25; %the number of points in the line<br />
x2=linspace(xi,xf,numPts); %generate an array of x2 ...<br />
y2=linspace(yi,yf,numPts); %... and y2 values to define a line. <br />
<br />
% loop through all the values of x2 and y2<br />
for i=1:length(x2),<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2(i), y2(i));<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
%Move arm to next point on the line.<br />
MoveArm(xb, yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
ArmDrawCircle.m:<br />
<br />
function [x0,y0,r] = ArmDrawCircle(x0,y0,r)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the circle;<br />
numPts = 50; %the number of points in the circle<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
MoveArm(xb,yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
CwiaSwiaC.m (Circle within a Square within a Circle):<br />
<br />
%Draw first circle<br />
ArmDrawCircle(0,7,1)<br />
<br />
%Starting from the end of the circle, draw a tangential square<br />
ArmDrawLine(1,7,1,8)<br />
ArmDrawLine(1,8,-1,8)<br />
ArmDrawLine(-1,8,-1,6)<br />
ArmDrawLine(-1,6,1,6)<br />
ArmDrawLine(1,6,1,7)<br />
<br />
%Circumscribe the square<br />
ArmDrawCircle(0,7,1.41)</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1699Robotic Arm: Team Stealth Squad2008-11-17T19:17:44Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.<br />
<br />
===Control Script===<br />
<br />
To draw a circle within a square within a circle, we first create a function to draw a line from two endpoints and a function to draw a circle from a center point and a radius. These functions were generated by taking the code for the simulations, replacing the values of the line and circle with variables defined by the inputs, and replacing the part that plotted the figure with a loop that sent strings to the servo controller for each point on the line or circle. Then, we created a script that first drew a circle with radius 1, the the lines that defined a tangential square, and then another circle of radius sqrt(2) that circumscribed the square.<br />
<br />
ArmDrawLine.m:<br />
<br />
function [xi,yi,xf,yf] = ArmDrawLine(xi,yi,xf,yf)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the line;<br />
numPts = 25; %the number of points in the line<br />
x2=linspace(xi,xf,numPts); %generate an array of x2 ...<br />
y2=linspace(yi,yf,numPts); %... and y2 values to define a line. <br />
<br />
% loop through all the values of x2 and y2<br />
for i=1:length(x2),<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2(i), y2(i));<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
%Move arm to next point on the line.<br />
MoveArm(xb, yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
ArmDrawCircle.m:<br />
<br />
function [x0,y0,r] = ArmDrawCircle(x0,y0,r)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the circle;<br />
numPts = 50; %the number of points in the circle<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
MoveArm(xb,yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
CwiaSwiaC.m (Circle within a Square within a Circle):<br />
<br />
%Draw first circle<br />
ArmDrawCircle(0,7,1)<br />
<br />
%Starting from the end of the circle, draw a tangential square<br />
ArmDrawLine(1,7,1,8)<br />
ArmDrawLine(1,8,-1,8)<br />
ArmDrawLine(-1,8,-1,6)<br />
ArmDrawLine(-1,6,1,6)<br />
ArmDrawLine(1,6,1,7)<br />
<br />
%Circumscribe the square<br />
ArmDrawCircle(0,7,1.41)</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1694Robotic Arm: Team Stealth Squad2008-11-17T19:06:18Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.<br />
<br />
===Control Script===<br />
<br />
ArmDrawLine.m:<br />
<br />
function [xi,yi,xf,yf] = ArmDrawLine(xi,yi,xf,yf)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the line;<br />
numPts = 25; %the number of points in the line<br />
x2=linspace(xi,xf,numPts); %generate an array of x2 ...<br />
y2=linspace(yi,yf,numPts); %... and y2 values to define a line. <br />
<br />
% loop through all the values of x2 and y2<br />
for i=1:length(x2),<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2(i), y2(i));<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
%Move arm to next point on the line.<br />
MoveArm(xb, yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
ArmDrawCircle.m:<br />
<br />
function [x0,y0,r] = ArmDrawCircle(x0,y0,r)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the circle;<br />
numPts = 50; %the number of points in the circle<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
MoveArm(xb,yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1693Robotic Arm: Team Stealth Squad2008-11-17T19:04:38Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.<br />
<br />
===Control Script===<br />
<br />
ArmDrawLine.m:<br />
<br />
function [xi,yi,xf,yf] = ArmDrawLine(xi,yi,xf,yf)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the line;<br />
numPts = 25; %the number of points in the line<br />
x2=linspace(xi,xf,numPts); %generate an array of x2 ...<br />
y2=linspace(yi,yf,numPts); %... and y2 values to define a line. <br />
<br />
% loop through all the values of x2 and y2<br />
for i=1:length(x2),<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2(i), y2(i));<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
%Move arm to next point on the line.<br />
MoveArm(xb, yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1692Robotic Arm: Team Stealth Squad2008-11-17T19:04:00Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.<br />
<br />
===Control Script===<br />
<br />
ArmDrawLine.m:<br />
<br />
function [xi,yi,xf,yf] = ArmDrawLine(xi,yi,xf,yf)<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Define the line;<br />
numPts = 25; %the number of points in the line<br />
x2=linspace(xi,xf,numPts); %generate an array of x2 ...<br />
y2=linspace(yi,yf,numPts); %... and y2 values to define a line. <br />
<br />
% loop through all the values of x2 and y2<br />
for i=1:length(x2),<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2(i), y2(i));<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
%Move arm to next point on the line.<br />
MoveArm(xb, yb);<br />
<br />
pause(0.1); %delay 1/10 second<br />
end</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1691Robotic Arm: Team Stealth Squad2008-11-17T18:55:50Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
:*Fastners, pencil, and c-clamp are not included. <br />
:*The SolidWorks file was created after completion of the physical arm. <br />
:*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: StealthSquadSim.jpg|475px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1690Robotic Arm: Team Stealth Squad2008-11-17T18:52:48Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
::*Fastners, pencil, and c-clamp are not included. <br />
:::*The SolidWorks file was created after completion of the physical arm. <br />
::::*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
[[Image: [[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]|300px|thumb|right|Simulated Circle]]<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:StealthSquadSim.jpg&diff=1689File:StealthSquadSim.jpg2008-11-17T18:51:09Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1688Robotic Arm: Team Stealth Squad2008-11-17T18:40:23Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
::*Fastners, pencil, and c-clamp are not included. <br />
:::*The SolidWorks file was created after completion of the physical arm. <br />
::::*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1687Robotic Arm: Team Stealth Squad2008-11-17T18:39:38Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
::*Fastners, pencil, and c-clamp are not included. <br />
:::*The SolidWorks file was created after completion of the physical arm. <br />
::::*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robotic_Arm:_Team_Stealth_Squad&diff=1686Robotic Arm: Team Stealth Squad2008-11-17T18:37:25Z<p>Jmarti1: </p>
<hr />
<div>'''Team Stealth Squad:'''<br />
:*[[User: Azhao1| Alan Zhao]]<br />
:*[[User: Theaven1|Toby Heavenrich]]<br />
:*[[User: Jmarti1| Jonathan Martin]]<br />
:*[[User: Tchen6| Taylor Chen]]<br />
<br />
==Overview==<br />
<br />
Our team created a dual-jointed robotic arm that would hold a pencil and draw a circle within a square within another circle. To do this we used a variety of Lynxmotion parts from the Engineering Lab classroom. The arm is attached to a surface using a c-clamp and is moved using two servo motors. The motors are controlled through a circuit board run with Matlab code. After calibrating the motors we went about creating an arm using aluminum tubes, servo brackets, and hubs. We initially used long (4"-6")tubes for the "upper arm" segment of our robotic arm, however this caused poor distibution of mass and led to an unbalanced and shaky product. Our final construct used 2" tubes for both segments of our robotic arm. After constructing the arm our team began to work on making a SolidWorks Model and creating Matlab commands that would control the arm and run the functions which we wanted with appropriate scale, speed, and accuracy. <br />
<br />
==Solid Works==<br />
[[Image: Our Arm.jpg|300px|thumb|right| Robot Arm]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
:*Our SolidWorks model shows the basic design and assembly of our robotic arm. <br />
::*Fastners, pencil, and c-clamp are not included. <br />
:::*The SolidWorks file was created after completion of the physical arm. <br />
::::*It is thus more of a model/simulation than a design aid.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
==Matlab==<br />
<br />
===Simulation===<br />
<br />
%Define the arm<br />
la=4.5; lb=4.3025;<br />
<br />
%Draw and animate the arm;<br />
numPts = 20; %the number of points in the animation<br />
phi = linspace(0,2*pi,numPts); %angle goes from 0 to 2*pi.<br />
<br />
clf % clear the figure. <br />
<br />
x0=0; %Define center (x0,y0) of circle and radius (r)<br />
y0=7;<br />
r=1;<br />
<br />
% loop through all the values of phi<br />
for i=1:length(phi),<br />
x2=x0+r*cos(phi(i)); %x2 and y2 trace out a circle.<br />
y2=y0+r*sin(phi(i));<br />
<br />
%First do inverse kinematics to find angles...<br />
[theta_a, theta_b]= InverseKinematics(la, lb, x2, y2);<br />
<br />
%Then do forward kinematics to find arm locations.<br />
[xa ya xb yb] = forwardKinematics(la, lb, theta_a, theta_b);<br />
<br />
subplot(1,2,1); %generate 1x2 plots, choose plot 1<br />
plot([0 xa xb],[0 ya yb],'b','LineWidth',2);<br />
axis([-10 10 0 10]);<br />
<br />
subplot(1,2,2); %choose second plot<br />
plot(xb,yb,'ro') %plot red circle<br />
axis([-10 10 0 10]);<br />
hold on; %don't erase this plot.<br />
<br />
pause(0.1); %delay 1/10 second<br />
end<br />
<br />
This code simulates our robotic arm drawing a circle in MatLab. The code is essentially the same as the simulation from MatLab Lab 1, only with the arm lengths changed to correspond with the arm lengths of our robot.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Robot_Arm&diff=1464Robot Arm2008-10-23T15:20:59Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab7/E5Lab7.html Lab 7]<br />
<br />
==Teams==<br />
===Team A-Echo: (change this to your team name)===<br />
*Team members: Alade | Bhandari | Hunter | Nicoludis <br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team A-November: (change this to your team name)===<br />
*Team members: Balch | Burger | Goff | Spector <br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team A-Golf: (change this to your team name)===<br />
*Team members: Bertaut | Dyer | Pytlar | Scheuing <br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team A-Stealth Squad:===<br />
*Team members: Chen | Heavenrich | Martin | Zhao<br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team B-November: (change this to your team name)===<br />
*Team members: Blekicki | Cabrera | D'Annunzio | Nolan<br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team B-Alfa: (change this to your team name)===<br />
*Team members: Bowers | Chien | Edwards | Saltzman | Williams <br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team B-Sierra: (change this to your team name)===<br />
*Team members: Dinh | Parasrampuria | Silverblatt-Buser | Weiner<br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team C-Whiskey: (change this to your team name)===<br />
*Team members: Bielenberg | Chasins | Leland | Rutherford<br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team C-Alfa: (change this to your team name)===<br />
*Team members: Erturk | Eyerer | Novack | Stromme<br />
*Link to Report: ...Add link to your report here...<br />
<br />
===Team C-Tango: (change this to your team name)===<br />
*Team members: Koonce | Pezzola | Pollen | Weinhold<br />
*Link to Report: ...Add link to your report here...</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Mechanisms&diff=1293Mechanisms2008-10-02T22:09:17Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab4/E5Lab4.html Lab 4]<br />
<br />
==Teams==<br />
===Team A1:===<br />
*Team members: [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Yalade1#Team.2FProject_History Alade, Yewande] | Burger, Eric | [[User:Theaven1|Toby Heavenrich]] | Pytlar, Kevin<br />
*Mechanism title: '''''Cross-Slider'''''<br />
*Link to animation: [[Media:Assembly.avi|''Cross-Slider'']]<br />
*Link to SolidWorks files: <br />
**[[Media:Baseblock.zip|Base Block]]<br />
**[[Media:Yellowpiece.zip|Yellow Block]]<br />
**[[Media:Redpiece.zip|Red Block]]<br />
**[[Media:A1Arm.zip|Blue Arm]]<br />
<br />
===Team A2:===<br />
*Team members: Balch, Halleh | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Tchen6 Chen, Taylor] | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Fhunter1 Hunter, Frances] | Scheuing, Will <br />
*Mechanism title: Spinning Slider<br />
*Link to animation: [[Media:Spinning Slider.avi|Spinning Slider Animation]]<br />
*Link to SolidWorks files: [[Image:Spinning Slider.zip|Spinning Slider Zip]]<br />
<br />
===Team A3:===<br />
*Team members: Bertaut, Katherine | Dyer, Pierre | Martin, Jonathan | Spector, Marley<br />
*Mechanism title: Typewriter Key<br />
*Link to animation: [[Media:Typewriter_Animation.avi|Typewriter Key In Action]]<br />
*Link to SolidWorks files: [[Media:Typewriter_Parts.zip|Zip with Parts and Assembly]]<br />
<br />
===Team A4:===<br />
*Team members: Bhandari, Shiv | Goff, Tad | Nicoludis, Jack | Zhao, Alan<br />
*Mechanism title: A4 Oil Derrick<br />
*Link to animation: [[Media:derrickA4.avi|Derrick in Action]]<br />
*Link to SolidWorks files: [[Media:Team_A4.zip|SolidWorks Files]]<br />
<br />
===Team B1:===<br />
*Team members: Blekicki, Anthony | Chien, Franklin | Edwards, Wesley | Saltzman, David | Williams, Xavier<br />
*Mechanism title: Crankfest<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B2:=== <br />
*Team members: Bowers, Matthew | D'Annunzio, David | [[User:Jnolan1| Jared Nolan]] | [[User:Esilver1| Elan Silverblatt-Buser]]<br />
*Mechanism title: Two Slider<br />
*Link to animation: [[Image:Two_slider.avi|Video]]<br />
*Link to SolidWorks files: [[Image:All_Parts.zip|ZIP]]<br />
<br />
===Team B3:=== <br />
*Team members: Cabrera, Dan | Dinh, John | Parasrampuria, Sonal | [[User:Zweiner1 | Weiner, Zachary]]<br />
*Mechanism title: Fun Spinning Thing<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C1:===<br />
*Team members: Bielenberg, Ames | Eyerer, Fritz | [[User:anovac1|Novack, Ari]] | Rutherford, Shari<br />
*Mechanism title: Twirly Thing!<br />
*Link to animation: [[Image:C1animation.avi|Video]]<br />
*Link to SolidWorks files: [[Image:C1MechFiles.zip|ZIP]]<br />
<br />
===Team C2:===<br />
*Team members: Chasins, Sarah | [[User:pkoonc1|Koonce, Philip]] | Pezzola, Genevieve | Stromme, Andrew<br />
*Mechanism title: Scotch Yoke<br />
*Link to animation: [[Image:ScotchYoke.avi|Video]]<br />
*Link to SolidWorks files: [[Image:ScotchYokeTeamC2.zip|Parts and Assembly]]<br />
<br />
===Team C3:===<br />
*Team members: Erturk, Ozan | Leland, Julian | Pollen, Travis | Weinhold, Darren<br />
*Mechanism title: Two-Slider<br />
*Link to animation: Coming soon...<br />
*Link to SolidWorks files: And again...</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:Typewriter_Parts.zip&diff=1292File:Typewriter Parts.zip2008-10-02T22:07:27Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Mechanisms&diff=1291Mechanisms2008-10-02T22:06:18Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab4/E5Lab4.html Lab 4]<br />
<br />
==Teams==<br />
===Team A1:===<br />
*Team members: [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Yalade1#Team.2FProject_History Alade, Yewande] | Burger, Eric | [[User:Theaven1|Toby Heavenrich]] | Pytlar, Kevin<br />
*Mechanism title: '''''Cross-Slider'''''<br />
*Link to animation: [[Media:Assembly.avi|''Cross-Slider'']]<br />
*Link to SolidWorks files: <br />
**[[Media:Baseblock.zip|Base Block]]<br />
**[[Media:Yellowpiece.zip|Yellow Block]]<br />
**[[Media:Redpiece.zip|Red Block]]<br />
**[[Media:A1Arm.zip|Blue Arm]]<br />
<br />
===Team A2:===<br />
*Team members: Balch, Halleh | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Tchen6 Chen, Taylor] | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Fhunter1 Hunter, Frances] | Scheuing, Will <br />
*Mechanism title: Spinning Slider<br />
*Link to animation: [[Media:Spinning Slider.avi|Spinning Slider Animation]]<br />
*Link to SolidWorks files: [[Image:Spinning Slider.zip|Spinning Slider Zip]]<br />
<br />
===Team A3:===<br />
*Team members: Bertaut, Katherine | Dyer, Pierre | Martin, Jonathan | Spector, Marley<br />
*Mechanism title: Typewriter Key<br />
*Link to animation: [[Media:Typewriter_Animation.avi|Typewriter Key In Action]]<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team A4:===<br />
*Team members: Bhandari, Shiv | Goff, Tad | Nicoludis, Jack | Zhao, Alan<br />
*Mechanism title: A4 Oil Derrick<br />
*Link to animation: [[Media:derrickA4.avi|Derrick in Action]]<br />
*Link to SolidWorks files: [[Media:Team_A4.zip|SolidWorks Files]]<br />
<br />
===Team B1:===<br />
*Team members: Blekicki, Anthony | Chien, Franklin | Edwards, Wesley | Saltzman, David | Williams, Xavier<br />
*Mechanism title: Crankfest<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B2:=== <br />
*Team members: Bowers, Matthew | D'Annunzio, David | [[User:Jnolan1| Jared Nolan]] | [[User:Esilver1| Elan Silverblatt-Buser]]<br />
*Mechanism title: Two Slider<br />
*Link to animation: [[Image:Two_slider.avi|Video]]<br />
*Link to SolidWorks files: [[Image:All_Parts.zip|ZIP]]<br />
<br />
===Team B3:=== <br />
*Team members: Cabrera, Dan | Dinh, John | Parasrampuria, Sonal | [[User:Zweiner1 | Weiner, Zachary]]<br />
*Mechanism title: Fun Spinning Thing<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C1:===<br />
*Team members: Bielenberg, Ames | Eyerer, Fritz | [[User:anovac1|Novack, Ari]] | Rutherford, Shari<br />
*Mechanism title: Twirly Thing!<br />
*Link to animation: [[Image:C1animation.avi|Video]]<br />
*Link to SolidWorks files: [[Image:C1MechFiles.zip|ZIP]]<br />
<br />
===Team C2:===<br />
*Team members: Chasins, Sarah | [[User:pkoonc1|Koonce, Philip]] | Pezzola, Genevieve | Stromme, Andrew<br />
*Mechanism title: Scotch Yoke<br />
*Link to animation: [[Image:ScotchYoke.avi|Video]]<br />
*Link to SolidWorks files: [[Image:ScotchYokeTeamC2.zip|Parts and Assembly]]<br />
<br />
===Team C3:===<br />
*Team members: Erturk, Ozan | Leland, Julian | Pollen, Travis | Weinhold, Darren<br />
*Mechanism title: Two-Slider<br />
*Link to animation: Coming soon...<br />
*Link to SolidWorks files: And again...</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Mechanisms&diff=1290Mechanisms2008-10-02T22:04:26Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab4/E5Lab4.html Lab 4]<br />
<br />
==Teams==<br />
===Team A1:===<br />
*Team members: [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Yalade1#Team.2FProject_History Alade, Yewande] | Burger, Eric | [[User:Theaven1|Toby Heavenrich]] | Pytlar, Kevin<br />
*Mechanism title: '''''Cross-Slider'''''<br />
*Link to animation: [[Media:Assembly.avi|''Cross-Slider'']]<br />
*Link to SolidWorks files: <br />
**[[Media:Baseblock.zip|Base Block]]<br />
**[[Media:Yellowpiece.zip|Yellow Block]]<br />
**[[Media:Redpiece.zip|Red Block]]<br />
**[[Media:A1Arm.zip|Blue Arm]]<br />
<br />
===Team A2:===<br />
*Team members: Balch, Halleh | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Tchen6 Chen, Taylor] | [http://wikis.swarthmore.edu/ENGR005_2008/index.php/User:Fhunter1 Hunter, Frances] | Scheuing, Will <br />
*Mechanism title: Spinning Slider<br />
*Link to animation: [[Image:Spinning Slider.avi|Spinning Slider Animation]]<br />
*Link to SolidWorks files: [[Image:Spinning Slider.zip|Spinning Slider Zip]]<br />
<br />
===Team A3:===<br />
*Team members: Bertaut, Katherine | Dyer, Pierre | Martin, Jonathan | Spector, Marley<br />
*Mechanism title: Typewriter Key<br />
*Link to animation: [[Image:Typewriter_Animation.avi|Typewriter Key In Action]]<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team A4:===<br />
*Team members: Bhandari, Shiv | Goff, Tad | Nicoludis, Jack | Zhao, Alan<br />
*Mechanism title: A4 Oil Derrick<br />
*Link to animation: [[Media:derrickA4.avi|Derrick in Action]]<br />
*Link to SolidWorks files: [[Media:Team_A4.zip|SolidWorks Files]]<br />
<br />
===Team B1:===<br />
*Team members: Blekicki, Anthony | Chien, Franklin | Edwards, Wesley | Saltzman, David | Williams, Xavier<br />
*Mechanism title: Crankfest<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B2:=== <br />
*Team members: Bowers, Matthew | D'Annunzio, David | [[User:Jnolan1| Jared Nolan]] | [[User:Esilver1| Elan Silverblatt-Buser]]<br />
*Mechanism title: Two Slider<br />
*Link to animation: [[Image:Two_slider.avi|Video]]<br />
*Link to SolidWorks files: [[Image:All_Parts.zip|ZIP]]<br />
<br />
===Team B3:=== <br />
*Team members: Cabrera, Dan | Dinh, John | Parasrampuria, Sonal | [[User:Zweiner1 | Weiner, Zachary]]<br />
*Mechanism title: Fun Spinning Thing<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C1:===<br />
*Team members: Bielenberg, Ames | Eyerer, Fritz | [[User:anovac1|Novack, Ari]] | Rutherford, Shari<br />
*Mechanism title: Twirly Thing!<br />
*Link to animation: [[Image:C1animation.avi|Video]]<br />
*Link to SolidWorks files: [[Image:C1MechFiles.zip|ZIP]]<br />
<br />
===Team C2:===<br />
*Team members: Chasins, Sarah | [[User:pkoonc1|Koonce, Philip]] | Pezzola, Genevieve | Stromme, Andrew<br />
*Mechanism title: Scotch Yoke<br />
*Link to animation: [[Image:ScotchYoke.avi|Video]]<br />
*Link to SolidWorks files: [[Image:ScotchYokeTeamC2.zip|Parts and Assembly]]<br />
<br />
===Team C3:===<br />
*Team members: Erturk, Ozan | Leland, Julian | Pollen, Travis | Weinhold, Darren<br />
*Mechanism title: Two-Slider<br />
*Link to animation: Coming soon...<br />
*Link to SolidWorks files: And again...</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:Typewriter_Animation.avi&diff=1289File:Typewriter Animation.avi2008-10-02T22:03:07Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Mechanisms&diff=1175Mechanisms2008-09-28T19:51:02Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab4/E5Lab4.html Lab 4]<br />
<br />
==Teams==<br />
===Team A1:===<br />
*Team members: Alade, Yewande | Burger, Eric | Heavenrich, Toby | Pytlar, Kevin<br />
*Mechanism title: (complete)<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team A2:===<br />
*Team members: Balch, Halleh | Chen, Taylor | Hunter, Frances | Scheuing, Will <br />
*Mechanism title: (complete)<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team A3:===<br />
*Team members: Bertaut, Katherine | Dyer, Pierre | Martin, Jonathan | Spector, Marley<br />
*Mechanism title: Typewriter Key<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team A4:===<br />
*Team members: Bhandari, Shiv | Goff, Tad | Nicoludis, Jack | Zhao, Alan<br />
*Mechanism title: A4 Oil Derrick<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B1:===<br />
*Team members: Blekicki, Anthony | Chien, Franklin | Edwards, Wesley | Saltzman, David | Williams, Xavier<br />
*Mechanism title: Crankfest<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B2:=== <br />
*Team members: Bowers, Matthew | D'Annunzio, David | Nolan, Jared | Silverblatt-Buser, Elan <br />
*Mechanism title: (complete)<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team B3:=== <br />
*Team members: Cabrera, Dan | Dinh, John | Parasrampuria, Sonal | Weiner, Zachary<br />
*Mechanism title: (complete)<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C1:===<br />
*Team members: Bielenberg, Ames | Eyerer, Fritz | Novack, Ari | Rutherford, Shari<br />
*Mechanism title: Twirly Thing!<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C2:===<br />
*Team members: Chasins, Sarah | Koonce, Philip | Pezzola, Genevieve | Stromme, Andrew<br />
*Mechanism title: Scotch Yoke<br />
*Link to animation: (complete)<br />
*Link to SolidWorks files: (complete)<br />
<br />
===Team C3:===<br />
*Team members: Erturk, Ozan | Leland, Julian | Pollen, Travis | Weinhold, Darren<br />
*Mechanism title: Two-Slider<br />
*Link to animation: Coming soon...<br />
*Link to SolidWorks files: And again...</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1142Bridge Section2008-09-25T05:59:48Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: 1.903473E-6<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.42911E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: 1.9747 * 10 ^ -6<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: 1.056748*10^-6<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: 1.963e-6<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1141Bridge Section2008-09-25T05:57:50Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: 1.903473E-6<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.42911E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: 1.9747 * 10 ^ -6<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: 1.056748*10^-6<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1140Bridge Section2008-09-25T05:55:32Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: 1.903473E-6<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.42911E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: 1.9747 * 10 ^ -6<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1139Bridge Section2008-09-25T05:54:16Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: 1.903473E-6<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.42911E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=1138User:Jmarti12008-09-25T05:50:02Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. I'm a pretty '''awesome dude''', or at least I ''think'' I am.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my Ball Drop team page, [[Team Wharton A]]<br />
<br />
==SolidWorks Lab 1 - Simple Design==<br />
<br />
[[Image:jon's_design.jpg]]<br />
<br />
==SolidWorks Lab 2 - Bridge==<br />
<br />
Here's the link to my Bridge group page: [[Project 2, Team A3]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=1137User:Jmarti12008-09-25T05:47:45Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. I'm a pretty '''awesome dude''', or at least I ''think'' I am.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]<br />
<br />
==SolidWorks Lab Design==<br />
<br />
[[Image:jon's_design.jpg]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1136Project 2, Team A32008-09-25T05:44:53Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of Bridge Scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.42911E-6<br />
<br />
==Team Members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
<br />
===Alpha Squad===<br />
<br />
Alpha Squad (Jack and John) based their design on the principle that arches are the strongest structure in nature. They started by making a semicircular hole in the center of the design, which created a main arch. Then, to minimize the surface area used, they cut curved, triangular holes into the outside section of the bridge. This made a series of branching archways that spread the stress towards the outside as opposed to downwards. Then, they tested their design with COSMOSXpress and found that most of the displacement was occurring at the center of the top crossbeam and most of the stress was concentrated in the inside corners. To minimize the displacement in the center, they thickened the center of the top crossbeam by reducing the radius of the circle used to create the main arch. To keep the stress from building in the inside corners, they used the filet tool to round off the corners. The resulting design is shown below, and has a score of 1.498662E-6.<br />
[[Image:A3alpha.jpg]] <br />
<br />
===Omega Squad===<br />
<br />
Omega Squad (Kevin and Will) made a design that was inspired by the Mickey Mouse sample bridge. However, instead of using one ring, they used three, and connected the rings with a series of crossbeams. This was meant to spread the stress from the top beam to the sides, since the rings would try to spread sideways when compressed. When tested, the design showed a great deal of displacement in the middle. To fix this, they filled in the center of the middle ring, which was meant to decrease the flexibility of the center portion of the bridge. The resulting design is shown below, and has a score of 2.872116E-6.<br />
[[Image:A3omega.jpg]]<br />
<br />
===Final Design===<br />
<br />
Since the Alpha Squad bridge scored much lower, the final design was based off the Alpha Squad bridge, but borrowed some ideas from the Omega Squad bridge. One of the borrowed ideas was the idea of filling in rings to increase stability. The small circular holes in the Alpha Squad design were thus filled in, which increased the surface area, but the gain in S.A. was more than compensated for by the decrease in displacement. Adding a support beam in the center only seemed to hurt the design, though, since it transferred stress straight down, instead of deflecting it sideways as the arch did. The top beam was also thickened towards the sides to make the side sections the same thickness as the center section of the top beam. This made the surface area the maximum allowed (6.70 square inches) but it was compensated for by the very low maximum displacement (2.133 in). The resulting design is shown below, and has a score of 1.42911E-6.<br />
[[Image:A3_bridge(final)pic.jpg]]<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1135Project 2, Team A32008-09-25T05:32:53Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of Bridge Scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.42911E-6<br />
<br />
==Team Members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
<br />
===Alpha Squad===<br />
<br />
Alpha Squad (Jack and John) based their design on the principle that arches are the strongest structure in nature. They started by making a semicircular hole in the center of the design, which created a main arch. Then, to minimize the surface area used, they cut curved, triangular holes into the outside section of the bridge. This made a series of branching archways that spread the stress towards the outside as opposed to downwards. Then, they tested their design with COSMOSXpress and found that most of the displacement was occurring at the center of the top crossbeam and most of the stress was concentrated in the inside corners. To minimize the displacement in the center, they thickened the center of the top crossbeam by reducing the radius of the circle used to create the main arch. To keep the stress from building in the inside corners, they used the filet tool to round off the corners. The resulting design is shown below, and has a score of 1.498662E-6<br />
[[Image:A3alpha.jpg]] <br />
<br />
===Omega Squad===<br />
<br />
Omega Squad (Kevin and Will) made a design that was inspired by the Mickey Mouse sample bridge. However, instead of using one ring, they used three, and connected the rings with a series of crossbeams. This was meant to spread the stress from the top beam to the sides, since the rings would try to spread sideways when compressed. When tested, the design showed a great deal of displacement in the middle. To fix this, they filled in the center of the middle ring, which was meant to decrease the flexibility of the center portion of the bridge. The resulting design is shown below, and has a score of 2.872116E-6<br />
[[Image:A3omega.jpg]]<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1134Project 2, Team A32008-09-25T05:22:43Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of Bridge Scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.42911E-6<br />
<br />
==Team Members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
<br />
===Alpha Squad===<br />
<br />
Alpha Squad (Jack and John) based their design on the principle that arches are the strongest structure in nature. They started by making a semicircular hole in the center of the design, which created a main arch. Then, to minimize the surface area used, they cut curved, triangular holes into the outside section of the bridge. This made a series of branching archways that spread the stress towards the outside as opposed to downwards. Then, they tested their design with COSMOSXpress and found that most of the displacement was occurring at the center of the top crossbeam and most of the stress was concentrated in the inside corners. To minimize the displacement in the center, they thickened the center of the top crossbeam by reducing the radius of the circle used to create the main arch. To keep the stress from building in the inside corners, they used the filet tool to round off the corners. The resulting design is shown below, and has a score of 1.498662E-6<br />
[[Image:A3alpha.jpg]] <br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1133Project 2, Team A32008-09-25T05:12:25Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of Bridge Scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.42911E-6<br />
<br />
==Team Members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
To be filled in by team.<br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:A3omega.jpg&diff=1132File:A3omega.jpg2008-09-25T05:09:48Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:A3alpha.jpg&diff=1131File:A3alpha.jpg2008-09-25T05:08:47Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:A3_bridge(final)pic.jpg&diff=1130File:A3 bridge(final)pic.jpg2008-09-25T05:07:35Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1129Bridge Section2008-09-25T04:35:31Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.42911E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1128Project 2, Team A32008-09-25T04:34:44Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of bridge scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.42911E-6<br />
<br />
==Team members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
To be filled in by team.<br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1127Bridge Section2008-09-25T03:43:58Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 1.498662E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1126Project 2, Team A32008-09-25T03:43:00Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of bridge scores==<br />
*&alpha; squad score: 1.498662E-6<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 1.498662E-6<br />
<br />
==Team members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
To be filled in by team.<br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1125Project 2, Team A32008-09-25T03:38:04Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of bridge scores==<br />
*&alpha; squad score:<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 2.87211E-6<br />
<br />
==Team members==<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
<br />
==Report==<br />
To be filled in by team.<br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Project_2,_Team_A3&diff=1124Project 2, Team A32008-09-25T03:37:33Z<p>Jmarti1: </p>
<hr />
<div>[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]<br />
==Synopsis of bridge scores==<br />
*&alpha; squad score:<br />
*&Omega; squad score: 2.872116E-6<br />
*Current best team score: 2.87211E-6<br />
<br />
==Team members==<br />
Include list of names and links back to individual wiki pages<br />
<br />
==Report==<br />
To be filled in by team.<br />
<br />
<br />
[[Bridge_Section | &larr; Back to Bridge Section project page &larr;]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Bridge_Section&diff=1123Bridge Section2008-09-25T03:35:02Z<p>Jmarti1: </p>
<hr />
<div>===Introduction===<br />
To trace the evolution of the bridge designs, and to compare yours against others, I would like you to add entries to the following table. The number is the maximum deflection of your bridge section design.<br />
<br />
The bridge design will proceed in three phases:<br />
# You will all start with the same design that has a score of approximately 8e-6.<br />
# You will discuss (in "squads" of 2 or 3) how you think the design could be changed to get a better score, and then do at least one design together.<br />
# After the initial iteration (previous step) you will get together in groups of 4 or 5 to come up with new ideas and develop an improved design by trial and error. I would like you to enter your current best score on the wiki ([[#Scores | Scores]]).<br />
<br />
Directions for the lab are on the [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Index.html E5 web page], [http://www.swarthmore.edu/NatSci/echeeve1/Class/e5/E5Lab3/E5Lab3.html Lab 3]<br />
<br />
==Teams==<br />
Note: team name is a link to the teams wiki page.<br />
===[[Project 2, Team A1 | Team A1]]:===<br />
*Alade, Yewande (&alpha; squad)<br />
*Balch, Halleh (&alpha; squad)<br />
*Bertaut, Katherine (&Omega; squad)<br />
*Bhandari, Shiv (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A2 | Team A2]]:===<br />
*Chen, Taylor (&alpha; squad)<br />
*Dyer, Pierre (&alpha; squad)<br />
*Goff, Tad (&Omega; squad)<br />
*Heavenrich, Toby (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team A3 | Team A3]]===<br />
*[[User:jmarti1 | Martin, Jonathan (&alpha; squad)]]<br />
*[[User:jnicolu1 | Nicoludis, Jack (&alpha; squad)]]<br />
*[[User:kpytlar1 | Pytlar, Kevin (&Omega; squad)]]<br />
*[[User:wscheui1 | Scheuing, Will (&Omega; squad)]]<br />
Current best score: 2.872116E-6<br />
<br />
===[[Project 2, Team A4 | Team A4]]===<br />
*Burger, Eric (&alpha; squad)<br />
*Hunter, Frances (&alpha; squad)<br />
*Zhao, Alan (&Omega; squad)<br />
*Spector, Marley (&Omega; squad)<br />
Current best score: 1.98 x 10^-6<br />
<br />
===[[Project 2, Team B1 | Team B1]]:===<br />
*Blekicki, Anthony (&alpha; squad)<br />
*Bowers, Matthew (&alpha; squad)<br />
*Cabrera, Daniel (&alpha; squad)<br />
*Chien, Franklin (&Omega; squad) <br />
*D'Annunzio, David (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team B2 | Team B2]]:===<br />
*Dinh, John (&alpha; squad)<br />
*Edwards, Wesley (&alpha; squad)<br />
*Nolan, Jared (&Omega; squad)<br />
*Parasrampuria, Sonal (&Omega; squad)<br />
Current best score: 1.447 x 10^-6<br />
<br />
===[[Project 2, Team B3 | Team B3]]:===<br />
*Saltzman, David (&alpha; squad) <br />
*Silverblatt-Buser, Elan (&alpha; squad)<br />
*[[User:Zweiner1| Weiner, Zachary]] (&Omega; squad)<br />
*Williams, Xavier (&Omega; squad)<br />
Current best score: 2.104718 × 10-6<br />
<br />
===[[Project 2, Team C1 | Team C1]]:===<br />
*Bielenberg, Ames (&alpha; squad)<br />
*Chasins, Sarah (&alpha; squad)<br />
*Erturk, Ozan (&Omega; squad)<br />
*Eyerer, Fritz (&Omega; squad)<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C2 | Team C2]]:===<br />
*[[User:Pkoonc1 | Koonce, Philip (&alpha; squad)]]<br />
*[[User:Jlelan1 | Leland, Julian (&alpha; squad)]]<br />
*[[User:Anovac1 | Novack, Ari (&Omega; squad)]]<br />
*[[User:Gpezzol1 | Pezzola, Genevieve (&Omega; squad) ]]<br />
Current best score: xx<br />
<br />
===[[Project 2, Team C3 | Team C3]]:===<br />
*Pollen, Travis (&alpha; squad)<br />
*Rutherford, Shari (&alpha; squad)<br />
*Stromme, Andrew (&Omega; squad)<br />
*Weinhold, Darren (&Omega; squad)<br />
Current best score: xx</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=941User:Jmarti12008-09-17T22:52:38Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. I'm a pretty '''awesome dude''', or at least I ''think'' I am.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==External Link==<br />
<br />
This site is pretty cool: [http://www.xkcd.com xkcd]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]<br />
<br />
==Picture==<br />
<br />
Here it is. [[Image:Extreme.gif]]<br />
<br />
==SolidWorks Lab Design==<br />
<br />
[[Image:jon's_design.jpg]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:Jon%27s_design.jpg&diff=940File:Jon's design.jpg2008-09-17T22:51:37Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Team_Wharton_A&diff=906Team Wharton A2008-09-15T20:43:20Z<p>Jmarti1: </p>
<hr />
<div>[[Image:Profile_wharton1.jpg]]<br />
<br />
==Team members==<br />
[[User:dcabre1 |Daniel Cabrera]]<br />
<br />
[[User:oerturk1|Ozan Erturk]]<br />
<br />
[[User:jmarti1|Jonathan Martin]]<br />
<br />
[[User: tpollen1|Travis Pollen]]<br />
<br />
[[User:Dsaltz1|David Saltzman]]<br />
<br />
==Brainstorming==<br />
We sat in a circle discussing our materials (3 Dowel rods, paper bag, tennis ball, trash bag, electrical tape and case, paper clip, 3 rubber band) and available tools (scissors and a ruler) and what we could do with them to be both creative and effective. We debated different possibilities, and everyone suggested any ideas that came to mind, not discounting anything. Travis recorded the ideas as they came up. As we discussed, we eventually came to a general consensus about our plan. We agreed to meet early the following Saturday morning to build.<br />
<br />
===Ideas===<br />
'''Here are the possibilities that we discussed:<br />
'''<br />
<br />
-Create a flat surface with the greatest possible surface area<br />
<br />
-Make it spin<br />
<br />
-Cut dowel rods and tennis ball (into pieces)<br />
<br />
-Cut ball and stick paper clip in to use as a fish hook<br />
<br />
-Cut rods and tape them together to make more than three<br />
<br />
-Wings - cut bag on seams at an angle<br />
<br />
-Place ball in bag<br />
<br />
-Remove drawstring and use it for something else, stretch bag<br />
<br />
-Impale ball and stick rods in<br />
<br />
==Choosing the Final Design and the Construction Process==<br />
<br />
First of all, we wanted to create the largest surface area possible in order to increase the air resistance on the trash bag, which would make it fall more slowly. Thus, we decided to gather the tips of the sticks and generate the three equal parts of a circle by putting them 120 degrees apart. (We also used the plastic tape’s cover to keep the sticks together.) We wanted to forestall having it behave like a parachute, because we thought that if it rotated, it could hang in the air for a longer amount of time. We considered cutting triangular wings by cutting the trash bag from the corners i.e. on its diagonal. To make it rotate, we decided to attach one side of the wing on the stick completely to prevent the air flow on that side. However, we only attached the tip of the wing to the tip of the stick and left space for air flow. According to the plan, if we built wings in this way air resistance will cause it to spin due to allowing only one direction of air flow. In addition, we decided to cut the tennis ball into three equal parts to hang each part on three sticks so we could distribute the weight and prevent it from flipping.<br />
<br />
[[Image:tbp.jpg]]<br />
<br />
This was our basic design, only the tennis ball parts were actually placed closer to the center of the apparatus.<br />
<br />
==Testing==<br />
To test our design, we dropped it off the balcony of Alice Paul numerous times.<br />
<br />
==Final drop time==<br />
Our final drop time off the second floor of Hicks was 3.91 seconds (with a possible error of 0.2 seconds in either direction).<br />
<br />
==Additional Remarks==<br />
The device did not spin as much as we would have liked. Perhaps in ideal conditions it would have done so.<br />
<br />
----<br />
<br />
Back to [[Ball Drop]] page.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:Tbp.jpg&diff=905File:Tbp.jpg2008-09-15T20:41:37Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=Team_Wharton_A&diff=286Team Wharton A2008-09-04T16:08:58Z<p>Jmarti1: </p>
<hr />
<div>== Team Wharton A ==<br />
This is the Team Wharton A page.<br />
<br />
=== Team members ===<br />
Daniel Cabrera<br />
<br />
Ozan Erturk<br />
<br />
[[User:jmarti1|Jonathan Martin]]<br />
<br />
Travis Pollen<br />
<br />
David Saltzman<br />
----<br />
<br />
Back to [[Ball Drop]] page.</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=282User:Jmarti12008-09-04T16:07:06Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. I'm a pretty '''awesome dude''', or at least I ''think'' I am.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==External Link==<br />
<br />
This site is pretty cool: [http://www.xkcd.com xkcd]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]<br />
<br />
==Picture==<br />
<br />
Here it is. [[Image:Extreme.gif]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=File:Extreme.gif&diff=278File:Extreme.gif2008-09-04T16:06:12Z<p>Jmarti1: </p>
<hr />
<div></div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=276User:Jmarti12008-09-04T16:05:48Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. Some of the text is '''bold''', and some of it is in ''italics''.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==External Link==<br />
<br />
This site is pretty cool: [http://www.xkcd.com xkcd]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]<br />
<br />
==Picture==<br />
<br />
Here it is. [[Image:Extreme.gif]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=274User:Jmarti12008-09-04T16:04:49Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. Some of the text is '''bold''', and some of it is in ''italics''.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==External Link==<br />
<br />
This site is pretty cool: [http://www.xkcd.com xkcd]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]<br />
<br />
==Picture==<br />
<br />
Here it is. [[Image:extreme.gif]]</div>Jmarti1http://wikis.swarthmore.edu/ENGR005_2008/index.php?title=User:Jmarti1&diff=257User:Jmarti12008-09-04T16:00:11Z<p>Jmarti1: </p>
<hr />
<div>This is my user page. Some of the text is '''bold''', and some of it is in ''italics''.<br />
<br />
==Email Address==<br />
<br />
Here is a link to my student email address: [mailto:jmarti1@swarthmore.edu Email to Jon Martin]<br />
<br />
===Alternate Email===<br />
<br />
If that address doesn't work, try this one: [mailto:maskofthellama@mac.com Alternate Email to Jon Martin]<br />
<br />
==External Link==<br />
<br />
This site is pretty cool: [http://www.xkcd.com xkcd]<br />
<br />
==Ball Drop Team==<br />
<br />
Here's the link to my ball drop team, [[Team Wharton A]]</div>Jmarti1