Final Prototype - Mellinger
Final Prototype
This is the final exploded view of my design. The clear acrylic pieces were used for the frame of the robot and the black 3D printed pieces were used for the sliders and couplers. There were 14 mechanical parts, 13 of them being unique.
Exploded view of final mechanism |
Final assembled mechanism |
Mechanism Video |
The picture above shows the final assembled version of the robot connected to the motor. The mechanism moves quite smoothly for using 3d printed joints.
Data acquisition for slider motion |
I used the Vernier Pro app on my phone to record a video of the device in motion and assign motion capture points to the slider. I used this data to plot the velocity of the slider compared to the simulated velocity from MATLAB.
Expected vs. actual slider velocity |
The expected and actual velocity match except around the 200-degree point. At high velocities, the slider becomes blurry in the motion capture software and it is hard to determine its true position. I was also holding the camera and small variations of camera tilt may have played into the error. I believe the joint fits may be tuned to run smoother as well.