Introduction

The overall goal of this project was to create a mechanism that could transport marbles from one location to another. The input and output locations were pre-defined to be at the edges of a 2ft x 2ft x 2ft cube, and our robot was designed to stay within this volume.

The main features of this mechanism are a complex 3D motion (oscillating helical path) controlled by a single continuously rotating actuator, a passive three-bar mechanism that features a half (2DOF) joint, and two sets of gears to transmit and redirect rotational motion through a complex linkage. In addition, the mechanism deals with 1/2" steel bearing balls (marbles), which present their own challenges.

We have made all the files for our mechanism publicly available so that others can explore and learn from them: MarbleTransporter.zip

Device Video

Inspiration

Team

Adam Allevato

Kevin Holmes