Future Recommendations

Future iterations of this project could include:

1. Hydraulics and Pneumatics - Actuate the system

   • Actuation

     • Pistons along the back of each link would allow for robotic integration and control

     • If fully robotically actuated, could eliminate the need for counterbalancing

   • Brake Mechanism

     • Replace manual screw brakes with pneumatic pistons

2. Spring assisted counterbalancing

   • Pro: reduces the total counterbalance mass required

   • Con: not suited for the "perfect" counterbalance positioning

3. Insertion Axis

   • Best implemented near end effector

4. Additional fail safes to prevent motion

   • Eg. locking pin to hold arm in a transport position

5. Custom-lathed bushing, or ceramic bearing

   • Reduces backlash/tolerancing issues