Full Sculpture

Requirements

The requirements for the final sculpture were:

System integration
Professional
Error Free

We were expected to have a fully functional structure which would combine the design of our mini sculpture, be autonomous, have a human interface, include tracks and an elevator, and lastly be error-free.

1. Designing

To meet the full sculpture requirements, we added two additional base layers to support a new track that guides sorted marbles into the elevator mechanism. We also relocated the light sensor from the bottom to the top of the track for improved detection and control. Additionally, we redesigned the surfaces that catch the marbles after sorting—replacing the wide tracks with vortex-like funnels—to ensure smooth entry into the marble return system.

Later, we decided to add two return tracks for futher user interests. In addition, we added a new middle return method for the marbles that the user did not want to sort.

2. Integration

We carried over the core concept from our mini sculpture into the full build: using a light sensor to sort marbles by color. When a marble is dropped, it lands in a movable basket that shifts left for lighter-colored marbles and right for darker ones. This allowed us to seamlessly integrate our previous logic and mechanics into the larger sculpture while maintaining consistent functionality.

I. Major Changes

Track: We changed our whole track in order to move the light sensor to the top of the structure, rather than the end. We incorporated many curves in the track so the marble would slow down and the light sensor could sense it. The curves also helped in decreasing the speed of the marble as it descends, allowing us to ensure the marble wouldn't jump off the track.
Catching Mechanism: We added two green vortexes which the marbles are sorted into so that the marbles would drop through them and onto the return tracks. This allowed the structure to be fully autonomous.
Light Sensor: We moved the light sensor to the beginning of the track instead of the end. We did this because when the sensor was at the end of the track, it was very hard to find a good angle to mount it and often the marble would be going so fast the sensor would be unable to sense the marble. Moving the sensor up made it easier to mount and more reliable.
User Interface: We kept the same user interface as the mini sculpture. When the user presses the button, our gate lifts and the marble is released and sorted. However, with the addition of our idle mode, we made it so if the button is not pressed within 5 seconds, the gate opens on it's own and the marble falls down our basket and into the middle track.
Idle Mode: After completing the color sorting aspect of our sculpture, we decided to add a third track to return the ball. If the button is not pressed by the user within 5 seconds, the gate opens automatically and releases the marble. Instead of moving left or right, the basket stays stationary and drops the marble onto a middle track. The middle track leads to a trampoline which the marbles bounces off and into a wide track which leads into the marble return system.

Mini Sculpture

Full Sculpture

II. User Interface

Our user interface is the same as our mini sculpture. We have an arm which acts as a wall to stop the marble and when the touch sensor is pushed, the arm moves and allows the marble to continue down the path. However, in our mini sculpture, the arm was located right at the end of the track, however, in the full sculpture the arm was located in the middle of the track.

If the user does not press the button, the gate automatically opens after 5 seconds as the sculpture enters its idle mode

III. Elevator Chain and Return Paths

We have two different return paths stemming from the two different vortexes. Both tracks lead to the same elevator mechanism, which lifts the marbles straight to the start of the track. This ensures that the sculpture can run on it's own and doesn't need a human to drop the marble onto the track. Adding two tracks also increases the aesthetic and makes the return system more interesting.

For the elevator system, we decided to add another sprocket on one side to increase the tension since the chain was getting stuck continuously. We also made the decisions to only have 2 red hooks on our chain. We did this because if a marble comes through the structure while the basket at the bottom is moving, the marble is not sensed and gets stuck.

Left

Light marbles fall from the vortex onto this track. They then fall back to the lower ball return and brought up by the chain.

Right

Dark marbles fall from the vortex onto this track. They then fall back to the lower ball return and brought up by the chain.

Final Results

Front View

Side View

Our final sculpture reimagines color sorting with an interactive twist. When a user presses the button, marbles are directed to the left or right track based on their vibrance. However, if no input is given, the system shifts into an idle mode, where marbles drop straight down the center onto a trampoline.

I. Different Paths

IMG_4041.mov

Dark

IMG_4041.MOV

Light

IMG_4042.MOV

Idle

II. Close look at the components

Elevator returns marble to start

2. Light sensor and user interface

3. Dropped into basket which moves

4. Vortexes drop marble onto return system

III. Code

IV. Math

Our team was tasked with determining the optimal placement of both the trampoline and the ramp to ensure the marble would successfully land in the lower ball catch.

To achieve this, we first calculated the marble’s velocity at the base of the ramp, just before it entered freefall. Next, we computed the horizontal distance the marble would travel after leaving the ramp. Using the velocity components in both the horizontal (x) and vertical (y) directions, we applied the coefficient of restitution to estimate the adjusted horizontal distance the marble would travel before reaching the height of the track.

Page updated

Report abuse