2-DOF collection robot.
Mechanisms, motors, and a lot of time at the workbench.
The collection robot with its scooping mechanism open.
THE CHALLENGE
Get the mechanism working.
Turn a collection mechanism into a working 2-DOF robot. The design had to bring the pivoting arm, scooper, geared drive and servo lid together in a physical assembly with usable fits and clearances.
THE ENGINEERING PROCESS
From mechanism to motion.
A closer look at
the work in between.
01 / Requirement / Mechanism
Four subsystems. One working robot.
I led the redesign across the pivoting arm, scooper, geared drive and servo lid. The work focused on making those subsystems operate together as a collection mechanism.
The robot with its collection mechanism open.
02 / Engineering / CAD
Resolve the mechanism in Fusion 360.
The redesign connected the mechanism geometry to its actuation and packaging. Torque and geometry were part of the design considerations.
CAD model of the collection scooper.
03 / Fabricate / Assemble
Make the parts fit in the real world.
I fabricated and assembled the 3D-printed parts, iterating fits and clearances during the build. The workshop work turned the CAD redesign into a working prototype on the project deadline.
Assembly and adjustment at the workbench.
04 / Integrate
Bring the mechanical and electrical work together.
I integrated the Arduino-driven motors and servos. Wiring and calibration faults needed to be resolved before the mechanism could demonstrate its intended motion.
Wiring and motor integration in progress.
05 / Test
Close the loop with a working demonstration.
The prototype achieved full 2-axis motion at the demonstration. The assembled robot captures the result of the mechanical redesign, fabrication and control integration.
The assembled robot in its closed configuration.
REFLECTION / BEYOND THE MODEL
Hardware rewards iteration.
Fits, clearances, wiring and calibration all affected the final mechanism. This project made iteration a practical workshop activity: assemble the hardware, find the constraint, then adjust and test again.
PROJECT NOTEBOOK
The work, up close.
Select an image to explore.