4. Final Prototype and Demonstration

Final Result:

All of these additions and reworks came together to form the final product.

Unfortunately, while the gear system and the main mechanism both worked in their own, the mechanism had too much friction and resistance throughout to be able to do both. The big gear, that was mounted on the motor was pressed too tightly against the ground link and experienced so much friction as a result that it was not able to spin. Instead, the motor just slipped inside of the gear to the point where it wore out the hole so much that it was impossible to stop it from slipping. Though we didn't have time to fix it in the end, a thinner, smoother, and more durable gear could have solved that problem.

The final prototype was created through a lot of trial and error, and designing-as-we went. Through a lot of this process, we used the most readily available and customizable materials because we needed that flexibility. This came at the cost of construction quality in cases where the plywood linkages and wooden dowels caused problems. Although everything didn't fully work all together in the end, we were at least able to make all of the pieces needed in some form. With more time and more trial-and-error, as well as using better materials, it's possible that both our main goal and our stretch goal could have been achieved together, as was intended.

As it is, this is what we were able to build, and it was able to execute the digging and planting motions. 

Two-Minute Video Demonstrating the Key Features of the Robot:

Photo of the Final Prototype:

Screenshots of the final CAD Assembly:

Video of the Final Prototype Working: