In comparison with the previous mechanical design, we make some modification for the pieces, we already sent to the laser cutter in MDF of 3mm so, figure 1 shows the pieces that we used to build the robot structure.

However, with this structure, we verified how long the arm reach for each position, unfortunately, doesn’t reach the 20x20x20 cm space working, so, we have to re-design our model for the robot, transforming the second joint which is connected to the gripper, in two joints, this way we can reach the 20x20x20 cm space.

We already talked about the modification of some pieces that make the skeleton of our robot, therefore, we design the pieces of the figure 2, those pieces belong to the base and the floating arm of the robot, which is the one that is connected to the tool. Also, we decided to use some of the pieces that we had before.

In figure 3 there are three circles in the base, the first one is to make the base firm and avoiding unexpected vibrations, the second one, is the base of the first servomotor (it has a rectangular gap as well), and the third one is connected with the first arm of our robot, so that means that circle is the base that is spinning around the axis of the servomotor on the second circle.

For now, we are going to keep this mechanical configuration, of course if this design doesn’t work to make the fluid motion, and in the case that some singularities unfortunately affect the principal task, we will change it.

IGM SOLVED

GRAPHICAL INTERFACE

3 DOF GRAPHICAL INTERFACE

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6DOF GRAPHICAL INTERFACE

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CONCLUSION

To sum up all the things that we mentioned in the last advance and this one, we have controversies, with the mechanical part, because, in the first advance we wrote that the mechanical design will be composed by only two joints, however, at the moment that we built the robot, unfortunately the results wasn’t the ideals for us, and the mechanism didn’t reach the 20x20x20 cm workspace, and we decided to make some changes for the joints, and convert one joint in two.

Also, we are still considering the servomotors that we’re going to use, because the weight of the tool, was heavier that we were expecting, and if the one’s that we were considering on the previous advance doesn’t lift that weight in a fluent form, we’ll have to change them for ones with more power.

Making all the simulations and programs to solve the exercises of DGM and IGM, help us to realize the form of the movement of the joints more easily, and give us the results and configurations for the program parameters that we’ll have to send them to control the servomotors of our joints.