Diagrams

These are the plans for what we affectionately call "the engine room". In total we have five motors to control the fingers, they each have their own housing which is in turn attached to a large forearm that can turn to go forwards and backwards.

Extensive planning was made beforehand in order to account for size of the motors. We spent close to a week sketching, designing and building the engine room itself.

This is the first draft schematic of our entire arm which was different, in that, we had originally planned for side paneling, a base that was more like a pyramid and an ultrasonic sensor on it's own "shelf". Big challenge on this schematic for us was to figure out the different axis of movements and how to account for various factors including loss of tension in the strings, gravity, weight and friction among others.