Mechanical

The wheel bushing fit and threading method were tested on a piece of scrap material to determine the overall width for each axle and best manufacturing method. The next step is to 3D print adapters that will allow the purchased wheels to fit on the axle. The rear axles will have space to accommodate a lego-style gear which will be connected via belt to the drive motor. Once this is finalized, holes can be drilled in the appropriate places on the actual frame. We also confirmed that the laser cut lazy susan plate pieces fit inside the assembled frame.

Programming

Electrical

Timeline to Completion

Week 5:

• Finalize manipulator, consider solenoid action
• Acquire necessary hardware
• Finish most machining

Week 6:

• Complete any machining left
• Wheels and motors mounted to frame
• Donut mounted to frame via 2020 and brackets
• Base pieces cut and attached with brackets and hinges
• Basic motor functions for different areas; start integrating

Week 7:

• Integrate electrical and mechanical
• Debugging + testing

Week 8:

• More Debugging

Week 9:

• Compete

Challenges Faced

• Putting a differential on the gripper while using both lego and rapid prototyping
• Laser cutting and 3D printing restrictions; size, material, strength
• Unforseen physical limitations; susan plate mounting, wheel drive motor placement

Current Challenges

• Design requires lazy susan to be upside down
  • Wheel placement
  • How much of the tower can we access
  • Manipulator design