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Objectives
Objectives
During the second week of the COSMOS Cluster 2 on Engineering Design and Control of Kinetic Sculptures, our team members learned how to program using RobotC to process sensor data and to control a motor in a Motion Robot. The concepts of automatic sensor data processing and controlling the motion of a component in a Kinetic Sculpture led to the design requirements of a Mini Sculpture. The Mini Sculpture design is a team effort that is completed during the third week of the COSMOS Cluster 2.
Design Requirements
Design Requirements
Run autonomously
Accomplished through a robust user input which always keeps marbles running through.
Have a user input
Track switch system, changes the marbles course.
Sensor-motor actuation system
Catapult, which reacts based on a speed sensor's reading.
Low margin of error
Robust marble retrieval system following catapult launch.
Design Process
Design Process
We started our process by focusing mainly on the user input, as we knew this would be the most difficult requirement to fulfill.
Our first designs included a ball drop system, which used a rotating lever arm controlled by a motor to allow one marble to pass through a tube.
We iterated to a track switch system, where the user could change the path of a track, therefore changing the marbles course because this allowed for complete system autonomy while also giving the user an input on the sculpture.
We also chose to construct a catapult, which used a speed sensor to actuate a motor at the fulcrum of the catapult arm, which would launch the marble to land into a funnel.
Results
Results
fullsculpture.aviWorking Model 2D Simulation
Working Model 2D Simulation
IMG_7842.MOVMini Sculpture Running
Mini Sculpture Running
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