17.6 Conclusions & Future Work

Lessons Learned

Through this project, we gained hands-on experience with Arduino programming and a range of electronic components, including motor drivers, adjustable voltage regulators, and stepper motors. We also developed a better understanding of basic circuitry, mechanical systems like pulleys and belts, and analytical tools such as MATLAB for position and velocity analysis. On the fabrication side, we learned valuable techniques including laser cutting and soldering, as well as how to size motors for specific applications.

We are proud of the work we accomplished this semester and are happy with our final performance, although it did not fully reach our expectations. Each component worked independently, but integration proved to be difficult. One major lesson learned came from our belt system. Our initial design did not provide adequate tension, which led to slipping and required last-minute makeshift tensioners. We should have verified that the center-to-center pulley distances matched our belt lengths before finalizing the chassis. Additionally, the use of wider belts would reduce slippage at our necessary high torque. Finally, because our arms required precise alignment and timing, we found that open-loop control was not sufficient, and a more robust control system would have improved reliability.

Future Work

In future iterations of this project, improving the alignment of the arms would be a key focus. This can be achieved by adding a support link to the chassis to reduce axle bowing and maintain consistent belt tension, which will help mitigate slippage. Ensuring the electromagnets sit flush against the steel plate is also critical. This could be addressed by properly tensioning the belts and designing custom spacers to maintain optimal contact. To further reduce mechanical resistance, replacing low-friction washers and bolts with bearings at the joints would help decrease friction between links. Lastly, improving the timing of the output links through more sophisticated control strategies would enhance precision and overall system performance.

Tips for Future Groups

As discussed in Lessons Learned above, if working with pulleys and belts, make sure the center-to-center distance between pulleys is appropriate for the belt length before making any cuts—otherwise, you may find your belt lacks proper tension, which can compromise your system's performance. Additionally, be cautious about incorporating systems that might require more than open-loop control because closed-loop setups can quickly become complicated and time-consuming to implement.

It’s also essential to allocate enough time for prototyping and iterations. Unexpected challenges almost always arise, and having time to troubleshoot can make or break your project. Start thinking about your BOM early, as the project timeline moves quickly and the ordering deadline can sneak up faster than expected. If possible, order extra parts, especially for critical components, to avoid setbacks if something breaks or doesn't work as planned.

Acknowledgements

We would like to express our gratitude to Joe and Scott from TIW for providing essential tools and granting after-hours access to the TIW facility, which was crucial in completing this project. We also thank Chris from the M E machine shop for generously supplying the steel plate. Finally, a special thanks to Connor for his continued support and guidance throughout our project.