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- 1/6, 12:00 noon I've borrowed a lego kit from a friend, to get myself aquainted with how the gears and pieces work, and to get ideas on possible robot arm designs. The trouble I'm having is figuring out what apparatus to use for the arm - how should it be controlled? I need to have several different ranges of motions, which means that I'll have to integrate probably at least three different motors... huh. I am not that skilled at legos...
- 1/6, 10:30 Ditched the lego idea after a couple of fruitless hours. I've moved onto a different plan utilizing K'nex, which I am more familiar with. Its going well so far - I have built a claw + arm, and have ideas about which directions to have things move in and how to accomplish the task. The success of this plan really depends on how the servo motors work, cause I have no idea what I am doing in regards to them.
- 1/7, 10:00 AM I have added additional support to the arm, making it very durable but also too heavy, which I am going to have to fix. I have a pretty good idea about how to use the different servo motors now, and am working on planning a wood platform to mount different aspects of the arm onto. I am going to use three different motors; two standards and one continuous rotation motor. I am working on putting an illustration of my design plan together, which I might put online.
- 1/8, 10:24 AM I worked on the robot arm for several hours last night. I removed the k'nex backbone that was making the arm heavy and replaced it with popsicle sticks - it now weighs a lot less, but also doesn't look as nice. Oh well! I've also moved where the robot bends the arm to a point further up, so that there is less weight to lift. My dad suggested using a counterweight to help the servo motor lift the arm, so I am looking into that. I have a plan for attatching the motors - I want to attatch a turntable to a continuous rotation motor. The arm and the other motors would be attatched to the turntable. The thing I am worried about, though, is that it might be too heavy for the continuous rotation motor to rotate. I am planning on working on the arm during class tomorrow, and hope to start constructing some of the wood platform.
- 1/13, 2:45 PM I have been working on the robotic arm so much that I haven't even had time to update on my progress! For the past week I have been putting in at least two hours every day on the arm. I have finally completed it! I had origionally planned on mounting it on the back of the robot. However, I needed to offset it far enough to reach the connector plugs and the different buttons on the green box, and this distance caused the robot to weigh too much on the back. I have moved it to the front of the robot, where it is mounted on several rails. I connected these rails to the back of the robot using screws in the four holes that were there. On top of the rails is a piece of pegboard, which I connected using thumb screws so that I can take it off and put it back on with relative ease. The pegboard has four wheels and a motor attatched to it. A round piece of foamboard is attatched to the motor and rotates on the wheels. It is attatched to the actual arm. I have all the motors connected in as well. Its a great relief to have this part of the project done, but I am worried that I won't have time to complete the rest of my goals before the due date.
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