Agenda:
- Continue to work on the arm
What happened:
We cut a C channel to be slightly smaller for the second segment of the arm. This peice has two free-spining wheels on the end to easily use the ramp, and will have servos controling a bucket-like mechanism on top of it. We mounted a motor at the end of the first arm to controll the second one, however we didn't have any real control over it. We decided to gear it down, all we needed to do was come up with something small with a good gear ratio; what we ended up building is a little gearbox that works at a 4:1 ratio, this used two more small gears and two of the medium gears.
Today we had to do a lot of build, find out it doesnt quite fit, tear appart, rebuild slightly differently, etc. We remounted that motor 3-4 times and still have to mount a second support for the second arm. There was some difficulty when we were trying to work and found we were missing one of the peices we needed to connect anything to a motor shaft, also at the end we accidentaly broke one of the power tabs off of the motor so now we have to replace it.
The current position of the motor controller is a problem, we need to move it to allow all the motor wires to reach regardless of the arm's position. We discussed trying to use the prototype sensor board to both control a large number of buttons and run some fancy lights for things like turn signals, brake lights, etc. We now need to wait for new parts to arrive before we can really continue, and we have to move the compass sensor to make room for the second arm segment.
1 comment:
Also the motor was equiped with a encoder which will also need to be replaced.
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