Final Design

The RPM 2.0's final design includes two square frames that rotate around a central origin on two axes similar to that of the RPM 1.0. The sample plate sits inside the inner frame and supports up to a 45.5 kg (100-pound) mass and up to a 76.2 cm (30-inch) cubic volume. All the frames are supported by shafts connecting them. The sample plate sits in the inner frame perpendicular to it, bolted in, and can be made adjustable (in height) using 80-20 tubes on the inner frame. The inner frame is connected by two shafts on either side to the outer frame, and the outer frame is supported by a larger base frame, as shown in the pictures below, completing the two degrees of freedom on the device. One side of the base also houses the motor to actuate the rotation of the outer frame using a 2.54 cm (1 inch) shaft. The other perpendicular side of the outer frame houses another motor to actuate the inner frame. The output shafts of both the motors are made to be 1.3 cm in diameter, which are then joined to the 2.54-diameter shafts using an aluminum 13 mm-13 mm shaft coupler. The 1-inch shafts were machined down to 1.3 cm on one end to connect with the shaft couplers. Shafts are going into the slip rings on either side of the outer frame to hold the slip rings in place, with the fixed side facing outward and the rotary side allowing for the frames to rotate. As all shaft ends going to each frame are 2.54 cm (1-inch), eight 1-inch flange collars were used to insert and fix the shafts into the frames with supports on both sides of each aluminum tube. 

The machine has combination wheels and leveling feet, and the base frame is easily detatched. This allows for practical transport, even if the proper infrastructure (such as a cargo elevator) is not available.