In this lab students designed a robot arm, controlled by MATLAB, that can draw pictures.
Team Blue Steel:
The purpose of this lab was to design a robot arm capable of drawing a square inscribed within a circle. To do this, we used servo motors, which sent pulses dictating the angle to which the arm of the robot would rotate. We built the foundation of the robot using a piece of aluminum, two bolts, and two washers. The foundation was attached to the table using a "c" clamp to ensure that the robot would not move while drawing. Elevated above the foundation was one of two servo motors bolted onto a platform. Screwed to the servo motor was an aluminum rod, which acted as the forearm, connecting both servo motors, which served as the elbow joint and the wrist joint. Attached to the second servo motor was a solid works piece which functioned as a hand and held the pencil using a screw. When we first ran the robot, we encountered a design flaw in that the marks the pencil was making on the paper were too light to be seen. To fix this, we tightened the screw holding the pencil in the hole in an effort to keep it in place. This was an effective solution because on our second trial the marks of the pencil became visible. Beyond this minor setback, no other design problems were encountered.
The Team of Sith Lords:
Team Unspecified Objects:
It's about to get goar-y.
File:E5 Lab 8 Code GOAR.zip The Artistic Robot Arm Team GOAR
Our Design: In designing our robot arm our goal was to have an arm with two different joints that could ultimately draw a circle inscribed in a square. We tried to find parts that went well together. Originally, we used a bracket to encase the motor and give the first joint of the arm its range of motion. During construction, the bracket seemed like the sturdier option. However, upon completing the arm, we noticed that it allowed for vertical instability; the first joint was not wholly rigid. Therefore, we decided to remove the bracket and attach the first arm to the motor with a washer.
The washer was then attached to a metal tube that made up the first arm. The other side of the first arm was attached to a metal shelf-bracket that held the second motor. The second motor, in turn, was connected to the plastic robot arm created earlier in the semester. This arm holds the pencil.
Team Not the Incredibles
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