Water Pouring Mechanism

The mechanism was designed using the graphical approach and applying three positions to one linkage that would hold the glass of water. The four-bar linkage approach was selected because the slider-crank would not be a feasible solution and the specialized link, like the H-link, would not be able to reset the glass to its starting position. The design based on the graphical approach was constructed in Solidworks to test functionality of the design.

The effectiveness of the design was checked with Solidworks. The graphical approach provided the necessary lengths of the linkages in the four-bar linkage implementation. Rough models of the glasses and box were constructed to ensure the design met the desired criteria. After the four-bar linkage was constructed it was tuned by changing the values of different linkage incrementally to accomplish a more efficient movement and outcome. Because the design criteria also requires that a constant torque motor is used it was recognized that the rotational movement of the motor would need to be converted into a force that would move the driving linkage.

Initially the idea of using a cam was explored through Solidworks. While I believe a cam would work it proved to be too difficult and time consuming to create the correct shape for the desired movement. Initial designs caused the glass to move rapidly around the water pouring stage.

The Scotch yoke mechanism was ultimately picked and implemented in order to use the motor to drive the driving linkage. This mechanism proved to be simpler to implement while providing the design movement of the four-bar linkage.

The design successfully takes the cup and pours the water into the cup located on the box but it does not take the cup from a starting position on the ground and return it to the starting position. With more time to tweak this design I believe the mechanism is capable of accomplishing 100% of the specified criteria.