This is our final prototype operation video. We can control the velocity(with the Potentiometer) and direction(button) of oar rotationIn the video, we rotate the potentiometer to adjust the velocity and press the button to change the rowing direction.
View file name video.mp4 height 250
Video [ 1]. Final operation
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Figure 1 below shows an isometric view of the assembled final prototype featuring a power source, electronic circuit, motor, linkage system, oars, and our decorated baseboat.
Figure [ 1]. Isometric view of the assembled final prototype
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Figure 2 below presents a close-up view of the motor with pinion and gear ensemble that transmits rotational motion perpendicularly as inputs to inputs of both mirrored linkage systems.
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Note the 1:2 gear ratio for added torque.
Figure 2. Front view of the motor and gear system
Close up of the same view described above. Observe the 2:1 gear to pinion size ratio for increased torque and decreased speed.
Figure[3]. Close up of the gear system
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Figure 3 below is a lateral view of the 6-bar linkage system. The input link takes in rotational power from the main axle and causes the oar to move in the desired trajectory. The blue tape in the picture acts as an indicator of the improvised ball-socket joint.
Figure 3. Lateral view of the 6-bar linkage system.
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Figure[4]. Laterial view of the 6 bar linkage system
Figure 4 below gives a full view of the oar and pivot system. In this image, you can observe the rectangular cross-section of the oar in the pivot which allows it to keep the correct orientation. It is also noted that the oar and pivot allow for a 1:3 scale from the linkage path.
Figure 4. View of the pivot system and the oar.