![]() ![]() This left us with a large problem: how to cause the front edge to turn the corner and go down the other arm of the slider? Once the slider had been pulled to the corner, and the powered back edge reversed directions to push the slider, what would make the slider choose one path over the other? This was the closest to the proposal movement, and guided our design trade-off decisions throughout.Īt this stage in the design, most of the mechanisms we imagined powered the back edge with the motor, and allowed the front edge to be dragged along the slider. We didn't want the front edge of the lid to dip down into the volume of the box, as this would make the box impractical for holding anything. The advantage of a slider is that the lid's motion could be kept "square", with a right-angled corner. It wasn't long before we changed to having a slider to guide the front edge of the lid, as shown in this early sketch and Solidworks model: Presumably a further 4-bar loop would have been necessary to power these arms through their synchronized dance. We weren't sure how we would control the arms in this motion. The earliest ideas were 6-bar mechanisms with folding/expanding arms on both the front and back edges of the lid. The hardest part of the design was finding mechanisms that could make this motion. Here we document the overall story arc of how we arrived at our final design, offering this as a view of what was learned. Our work consisted of an unending stream of designs, prototypes, failures and changes. We felt that this represented the purest purpose of the assignment: inventing a mechanism, from scratch, to meet a desired objective. It is important to note that the decision for this shape of movement was made before any effort was made to research what mechanisms might achieve the movement, or even whether the movement was possible. ![]() It was felt that this was novel and did not have an obvious implementation. Based on early feedback from the Professor, we wanted to achieve this motion with a single motor. ![]() The movement that we settled on was described in our proposal with the following illustration: The brainstorming resulted in a plethora of options: Can be accomplished with a closed linkage.We brainstormed various paths that the lids of a box could follow, and filtered for ideas with the following characteristics: ![]() To achieve this, our team chose to explore complicated ways in which a simple box can open. The Final Project for Robot Mechanism Design was to apply the concepts learned in the class to a new mechanism and to physically construct this mechanism. ![]()
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