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First Iteration
Second Iteration
Pros:
Very lightweight and quick to prototype.
Initial proof of concept for basic motion.
Allowed early testing and idea validation.
Improvements Needed:
Made with plastic 3D prints — lacked strength and precision.
Significant wobble due to loose tolerances.
Bearings not in contact → instability and measurement inconsistencies.
Not suitable for incubator conditions or prolonged use.
Pros:
Introduced roller-based guides → reduced wobble.
Started addressing alignment and load distribution.
Conceptually bridged toward a more rigid mechanical setup.
Improvements Needed:
Still had alignment sensitivity.
Roller configurations increased complexity.
Friction from contact surfaces not fully resolved.
Still heavy and not optimized for SMAC’s limited pushing force.
Third Iteration
Fourth Iteration
Pros:
Simplified geometry with stiffer structure.
Better load alignment with U-shaped profile.
Attempted modularity and mechanical refinement.
Improvements Needed:
Rail and carriage system still very heavy.
Excessive friction → SMAC couldn’t push cross-plate effectively.
Potential jamming or uneven movement under load.
Pros:
Most refined and test-ready prototype.
Integrated linear sliders (better precision, load handling).
Slots on one side of cross-plate to prevent jamming.
Improved rigidity and alignment across platform.
Designed for modular nutrient feeding and incubator use.
Closer to satisfying experimental constraints (1 Hz, 10% strain, 20 N).
Improvements Needed:
Linear sliders are heavier than expected due to measurement error.
SMAC actuator performance under this load is uncertain.
Full integration with nutrient system and control logic is still pending.
Final Design Iteration
Pros:
Significant reduction in misalignment and wobble
Quick release fasteners allow for easier manual re-feeding
Low friction rail and carriage system
Delivers required load as stated in design requirements
Improvements Needed:
Reducing overall constraints as current system is over constrained
Machining precision and tolerance on machined parts
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