...
Figure 2.7. Close-Up View of Bucket and Catch
One One of the biggest challenges during the CAD phase was planning how to place the linkages within the acrylic structure such that the link with the wide end effector attached to it could move without running into adjacent links. Similarly, the motion of one of our links passed through the platform/tank in which the liquid was to be poured, as seen earlier in Figure X2.5. After a fair amount of trial and error, the placement as displayed by the top-down view in Figure X 2.8 was selected, which places the end-effector link in the center of the structure and located the other links as closely to one of the side walls as possible so as to not interfere with the end effector.
...