16.8 Conclusions & Future Work
Conclusion
Overall, this project was challenging and incorporated a variety of aspects of robot mechanism design. We employed our expertise in design work, electronics, software, theoretical analysis, and fabrication. Our final prototype did achieve the goal we set out to and after multiple iterations, did so efficiently and repeatably. Although there were some steps along the process that seemed to bear the question if the project was going to be a success, we learned a great deal about engineering and were able to apply it into a final product.
Lessons Learned
Several important insights were gained during the development of this project.
While motion profiles are quite flexible, achieving clear and distinct “dot” and “dash” outputs required more detailed analysis and visual inspections than initially anticipated.
Tolerance behaviors can vary significantly between 3D printed, laser-cut, and purchased components. This makes it crucial to conduct thorough tolerance testing when combining different fabrication methods.
The use of open-loop control for motor operation can introduce significant variability even when the attached hardware remains unchanged. It is important to perform thorough testing and potentially implement closed-loop feedback on further developed prototypes.
Fastening flexible material, such as paper, to a belt and pulley system is unreliable, even under minimal load or actuation.
Future Improvements
Potential improvements that would enhance the system’s performance and reliability include:
Design an integrate and more robust paper-feeding system, potentially using cashier paper rolls or a whiteboard-type continuous surface.
Upgrade the electronic components to enhance consistency and repeatability. Incorporate additional sensors to enable closed-loop control for long-term reliable operation.
Reduce the linkage mechanism footprint, allowing the generation of smaller characters that can better fit in a single sheet of paper.
Further refine the motion profiles to increase the distinction between the characters by making proportionally shorter dots and/or longer dashes.
Acknowledgements
We would like to thank:
Professor Meredith Symmank
Teaching Assistant Conner Hennig
Teaching Assistant Mila Wetz
The staff and team at Texas InventionWorks
for their guidance, support, and resources throughout the completion of this project.