Year Summary
This year it was clear to me that I had a better scope of what I wanted complete with the breakdown of the CAD and assembly. This new mechanical mechanism is so superior to the previous version and was actually enjoyable to build. It felt more like assembling Legos than anything else! It was also evident the impact that college has had on me. While a large majority of my time this year was spend working on college things, the knowledge that I have learned elevated the project to a sophisticated level far beyond what it was. I imagine this will only continue to grow as I continue this project and my college education!
Problems with Rev02
1) CAD file management was horrible, will be switching to part numbers.
2) Parts were not from a standard provider, will be finding and standardizing where I source my OTS.
3) Bevel Gear Joints stalled the motors when the arm was held, will be switching this power transmission.
4) The actuators designed are very difficult to assemble and required too many parts, will be redesigning with part count in mind.
5) Dual servo joint was a little heavier than I would like, will try to design an alternate way to gain that DOF without one of the servos.
6) Round shaft was a poor choice as many of the components needed to mate with the shaft.
7) Ideally the arm should go together like Legos, so will be designing to remove any outside machining time.
8) Hardware! Design in the hardware needed to assembly (instead of just figuring out what works in real life...
9) The electronics did start to get dirty and the mounting plate was way to complicated to assemble, will be designing a cover as well as a better mounting plate.
If the ball will bounce twice, tc must be before the second bounce on the robot's side of the table
Target Outgoing Velocity = 0.8*Incoming Velocity + 0.9*Paddle Velocity
So: Paddle Velocity = 1.11(Target Outgoing Velocity - 0.8*Incoming Velocity)