Week 6

Progress

This week effort was put into finding a method to control z-axis movement of the robot arm. A threaded rod stabilized by a bushing will be turned with a step motor, and used to create z-axis movement using a ball bearing system. A wooden base was constructed to mount the motor, and threaded rod. As can be seen in the picture below, the ball bearing mechanism from an assembly robot was taken and attached to a wooden frame. The top of the platform consists of a DC motor with an encoder that will move the arm base up and down.

Challenges

There was difficulty in finding a z-axis system that would provide enough z-axis movement to access the rows of blocks in the Jenga tower. Strength and rigidity was also an issue with initial prototype z-axis systems. A belt drive system from a scanner was first tested as a potential z-axis system, but it wasn't robust enough to handle the weight of the robot arm. We will need to remake the arm of the robot to fit our new Z-Axis mechanism. We also still need to figure out how we will mount a metal stabilizing piece to the arm base for consistent movement.

Next Week

• Build a functional prototype with an integrated mechanical and electrical system