This is our final prototype operation video. We can control the velocity and direction of oar rotation.
Video[1]. Final operation
Isometric view of the assembled final prototype featuring power source, electronic circuit, motor, linkage system, oars and decorated base.
Figure[1]. Isometric view of the assembled final prototype
Front view of the motor with pinion and gear that transmits rotational motion to inputs of both mirrored linkage systems.
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
Lateral view of the 6 bar linkage system. Input link connected to shared steel shaft. Output link is connected to the oar with the ball joint. The oar length goes through the pivot.
Figure[4]. Laterial view of the 6 bar linkage system