6) Prototype and Testing

Prototype:

The above image is of our prototype after being fully assembled. We realized as we went into the testing that the system was actually much heavier than anticipated and thus resulted in jamming of certain gears or shafts at times when we attempted to test it. 

Testing videos:

Arm and Base Shaft:

https://drive.google.com/file/d/1Mh0Ufh3asvGghkMepAJ16xO4K4qap9JM/view?usp=sharing

As can be seen from this video, the arm and base shaft are able to rotate in conjunction with the individual halves of the central shaft rotating the free gears on the arm shaft in opposite directions

Clutch system:

https://drive.google.com/file/d/1klLrJaXUXWwkJlZoQWJKgvYIKOiD1Q5G/view?usp=sharing

As can be seen in this video, the clutch system functions as intended, sliding the sleeve onto the "toothed" hub of the free gear when the limit switch is activated.

Overall system:

https://drive.google.com/file/d/1sUvqyYKc-e79--o-KiRN4OzTVuAOYCrR/view?usp=sharing

As can be seen in this video when the entire system is active the system functions for the most part. The base rotates when either side of the base is activated (the video shows a bit of stutter but that was due to entanglement of the wires). The arm shaft rotates when the arm gears are engaged however, due to the height difference between the arm shaft and the arm link bevel gears, they are not in proper mesh and it is easy for them to disengage while rotating thereby not allowing the arm to move when the arm shaft is active. Furthermore it appears that the linkage has a tendency to swing which also causes the bevel gears to be no longer meshed. Possible improvements for this are discussed in the following section.