Design Notebook - Assignment Eight
This page will have the homework answers and design notebook content!
Homework:
Integration Test
Video of the robot not being robot
Mechanical Performance
Notes:
Robot no longer picks up ball
I have hope for this mechanism, it seems like theres too much force required
Possible fixes: decrease friction? Make joints looser-
This would comprimise rigidity though.
Mechanically: I wanted to improve the ability to pick up a ball and deliver it into the hoop
The previous system was slow.
Counter point was even though it was slow, it was able to complete the task.
User Experience
Notes:
No change in user experience except that the robot does not work anymore.
I chose to replace the arm with a scissor lift.
I chose this because the robot was difficult to drive up the ramp and I could save precious time by skipping that.
Logical reasoning: I suppose it could have made sense to try and tackle the drivability but this was an equivalent solution:
Limit need for drivability.
Design Notebook:
Mechanical Performance
Notes:
Things that are working well:
The robot can still drive around.
Implementation of the claw onto the scissor lift will be easy as I can use parts from the old design.
Risks: Scissor arm can tip over, Servo may not be strong enough.
What needs improvement:
Well obviously need to figure out a better design for the rail for the arm.
Could change location of servo mount maybe.
User Experience
Notes:
Whats working well:
Consistently able to start up, previously there were struggles getting servos to work and I think these were all due to loose connections since after securing them better, this has been solved.
There is some concern with the integrity of the scissor arm once it is holding the ball and a load.
The solution to this was to have the weight over the scissor be evenly distributed on both sides as to not cause a torque either way.
Not able to address drivability but hopefully scissor arm will reduce the need to address this.