The team's first functional prototype is shown in the images below.
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Movement
In the two videos, the full revolution of the mechanism is shown. When the crank is rotated, there is a distinct "flicking" motion as estimated by our kinematic analysis. The flicking motion occurs at the bottom of the revolution of the joint 6.
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Manufacturing and Materials
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Image AddedFigure 1. Final Prototype Operation
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Figure 2. Final Prototype Demonstration
Final Manufacturing and Bill Of Materials
The final list of materials used and their specific manufacturing methods are included in the following table.
Part Name | Quantity | Method | Material | File Name / Note |
Standoff | 5 | 3D Print | PLA | Standoff.3MF |
Base Spacer | 1 | 3D Print | PLA | Base Spacer.3MF |
Base Corner Spacer | 4 | 3D Print | PLA |
StandoffBase Spacer.3MF |
Link - Green | 1 | Laser Cut | 1/4in Acrylic | TestLinkGreen.DXF |
Link - Cyan | 1 | Laser Cut | 1/4in Acrylic | TestLinkCyan.DXF |
Ternary Link | 2 | Laser Cut | 1/4in Acrylic | TestLinkNavy.DXF |
Link - Pink | 1 | Laser Cut | 1/4in Acrylic | TestLinkPink.DXF |
Link - Red | 1 | Laser Cut | 1/4in Acrylic | TestLinkRed.DXF |
Ground | 2 | 3D Print | PLA | Ground |
V2.3MF |
Ternary Ground | 1 | 3D Print | PLA | Ternary GroundV2.3MF |
Base |
1 WoodTestBase_Top.DXF | Acrylic | base.DXF, bottom base.DXF |
12V DC Motor | 1 | Inventory | Hardware | For driving the mechanism |
12V Power Supply | 1 | Inventory | Hardware | For powering the motor and Arduino |
Arduino Uno | 1 | Inventory | Hardware | For controlling the system |
L298N Motor Controller | 1 | Inventory | Hardware | For controlling the motor |
Potentiometer | 1 | Inventory | Hardware | For controlling the motor speeds |
22 AWG Jumper Wires | 9 | Inventory | Hardware | To connect all hardware |
Shaft - 57.7mm | 1 | ME Machine Shop | Steel | Joint 1 |
Shaft - 70mm | 1 | ME Machine Shop | Steel | Joint 4 |
6mm Ball Bearings | 2 | Inventory | Hardware | Joint 4, Joint 7 |
M6 Spacer - 15mm | 2 | 3D Print | PLA | M6_Spacer_15mm.3MF |
M3 Spacer - 10mm | 2 | 3D Print | PLA | M3_Spacer_10mm.3MF |
M3 Spacer - 5mm | 2 | 3D Print | PLA | M3_Spacer_5mm |
.3MFCrank Handle | 1 | 3D Print | PLA | Crank HandleShaft - 57.7mm | 1 | ME Machine Shop | Joint 1 | Shaft - 70mm | 1 | ME Machine ShopJoint 4 | M3x20 Screw | 14 | Inventory | Steel | Standoffs |
and , Grounds, Electronics |
M3x30 Screw | 2 | Inventory | Steel | Joints 2 and 6 |
M3x35 Screw |
212 | Inventory | Steel | Standoffs, Joints 3 and 5 |
M3 |
Washers164 | Inventory | Steel | Joints |
M3 Nuts |
36Joints, , M6x45 Screw | 1 | Inventory | Joint 7 | M6 Nuts | 3 | Inventory | Joint 7 | Notes for Final Prototype
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M3 PTFE Plastic Washers | 14 | Purchased | PTFE | Joints |
M6 PTFE Plastic Washers | 2 | Purchased | PTFE | Joint 4 |
M6 Shaft Collar | 2 | Purchased | Steel | Joint 4 |
Rubber Golf Tee | 1 | Purchased | Rubber | For ball |