Once we had decided on the general approach we began working on the individual mechanisms.
Base Design
The base needed to have a rotational component, we decided to take some inspiration from rotating cake stands and create a Lazy Susan.
1 - Outer ring to retain whatever we decide to sweep since oil wasn't feasible option
2 - Stationary base that is the part getting swept
3 - Rotating base that has mechanism and electronics mounted to it
1 - Base layer
2 - Layer that has a slot for ball bearings
3 - Layer with the outer ring pieces and the rotating inner circle
4 - Outer ring to retain items
Klann Mechanism
The Klann mechanism was designed based on the lengths we found using our simulation. We sized our components, linkages, and base using the motor size as a starting point because it was the main component that we didnt have dimensional control over. The Klann Mechanism was the first thing we designed in CAD because it was the main part of the project.
Here you can see the SOLIDWORKS design of the mechanism, this iteration does not include joints because that was a separate design challenge.
As you can see in the linkage design many of the pieces are flush against each other, we then started designing our joints to work around this challenge.
Pin Joints
We used 3 different pin joint designs for different parts of the linkages
1)
2)
3)
Main Assembly
After completing that Klann Mechanism Assembly we completed the CAD for the main assembly that included the motor, base, and bevel gears.
The motor runs a combination gear that has 2 parts
1) The spur gear that runs the linkage
2) The bevel gear that rotates the mechanism with respect to the base
This combination gear helped us achieve our goal of using a single motor for the entire project.
The Linkage + Gear assembly was then added to a larger assembly that included the base we had design according to the images seen in the "Base Design" section above.