tag:blogger.com,1999:blog-91525209427720012732024-03-18T03:33:27.504-04:00YAMEBPersonal Project Blog of Daniel J. Gonzalez, PhD Candidate at MIT
[Yet Another Mechanical Engineering Blog]Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.comBlogger74125tag:blogger.com,1999:blog-9152520942772001273.post-49167323847574061672023-07-08T14:11:00.003-04:002023-07-08T14:11:34.308-04:00RI Install Photo Guide<p></p><div style="text-align: center;">LONG TIME NO POST! </div><div style="text-align: center;">Here are the steps I took to add the RI to my 2019 CX-5. The steps are non-exhaustive, but are meant to aid in the following procedure that's already documented on Youtube:</div><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen="" class="BLOG_video_class" height="505" src="https://www.youtube.com/embed/YMpGfX3S1w0" width="607" youtube-src-id="YMpGfX3S1w0"></iframe></div><div class="separator" style="clear: both; text-align: center;"><br /></div><div style="text-align: center;">Okay, here goes! Take a deep breath and DO IT!</div><p></p><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiS4vMeB4fgsKVsmkTbJzPSpC4r3bYc9ZJ0s2zGn3BXMBnAYv164TSHs4RmllCuhfBZWUynCKD92OPvMkE3qJp_0B9ITeofH_dXkGD9dYcKzPE4U55HOdQc4Xnk5omgM6idsEAisIP1Z8W1KqaxwLF10BwYoLKwIfpY5kRUwz43c_86Zz_tfdUbYcf-oFc/s4160/2023-07-07%2017.51.00.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3120" data-original-width="4160" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiS4vMeB4fgsKVsmkTbJzPSpC4r3bYc9ZJ0s2zGn3BXMBnAYv164TSHs4RmllCuhfBZWUynCKD92OPvMkE3qJp_0B9ITeofH_dXkGD9dYcKzPE4U55HOdQc4Xnk5omgM6idsEAisIP1Z8W1KqaxwLF10BwYoLKwIfpY5kRUwz43c_86Zz_tfdUbYcf-oFc/w640-h480/2023-07-07%2017.51.00.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWKPGPAfpb0nFV8NmNXDT6U6uBVMz1sGyD7ypPoVmSX3CWJwXJumPDSd7pMCB0awWs7fezRVRToIOekWudrH2FiM4v8KyuFIhcuQgSW0-a1P98RsNzcsILqtWbuo4bopoWOVbstecd86xBO5-Squ38YjhRjODzM6psFiRv47MHDdHmIyuG9jgk3iS1PuQ/s4624/2023-07-07%2018.01.21.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWKPGPAfpb0nFV8NmNXDT6U6uBVMz1sGyD7ypPoVmSX3CWJwXJumPDSd7pMCB0awWs7fezRVRToIOekWudrH2FiM4v8KyuFIhcuQgSW0-a1P98RsNzcsILqtWbuo4bopoWOVbstecd86xBO5-Squ38YjhRjODzM6psFiRv47MHDdHmIyuG9jgk3iS1PuQ/w640-h480/2023-07-07%2018.01.21.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEga-fbxtF1vev7dWqp6cUIPzFKod2ztJv2le0JbRcQL22CrsRw3PXYAQewUWpLqGVLHjtvaObeeXmKf87i6LZYXkjN3hcCAn0EBmD19QBJW5mJwx8qK-Q5ev3PKg9NCvNUYIrOonRMLr26Bvmn79OaZBOuykc68WpoUKr7zQ5Ld0FEsrfLyV2uQW3JKLAM/s4624/2023-07-07%2018.01.32.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEga-fbxtF1vev7dWqp6cUIPzFKod2ztJv2le0JbRcQL22CrsRw3PXYAQewUWpLqGVLHjtvaObeeXmKf87i6LZYXkjN3hcCAn0EBmD19QBJW5mJwx8qK-Q5ev3PKg9NCvNUYIrOonRMLr26Bvmn79OaZBOuykc68WpoUKr7zQ5Ld0FEsrfLyV2uQW3JKLAM/w640-h480/2023-07-07%2018.01.32.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEggXV5Ywf3BK6ePNKzoxRVCN8fxgFIMRRlggSOupqBayFsTTNP3O1UpxY_vPvLjChccdbMeorA8MPXrmi2Sr5YLHbeq30Coksxr2m7dKfQfuCkuIW1HN_2UgLR7Zk4ob0txu4GdSUPWIMpPKrZkIHf_Edd6D52hx3pkw33NiPZlGtQpsvxDyFZHdLjyIZ0/s4624/2023-07-07%2018.02.08.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEggXV5Ywf3BK6ePNKzoxRVCN8fxgFIMRRlggSOupqBayFsTTNP3O1UpxY_vPvLjChccdbMeorA8MPXrmi2Sr5YLHbeq30Coksxr2m7dKfQfuCkuIW1HN_2UgLR7Zk4ob0txu4GdSUPWIMpPKrZkIHf_Edd6D52hx3pkw33NiPZlGtQpsvxDyFZHdLjyIZ0/w640-h480/2023-07-07%2018.02.08.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEilGMMx_9kLwshx7HYmd4vBfaOkYGxX-3PKS795gk6wAnH7yJlgjhkcQ930zU69Mc49jwCjCfkM0ky9MD_bg4z0ZGmW27BcWwpigr0GpRTpFyUZR_mDgsJ5OQbftadMDfBEGcNs2MDwTIxmM7rw18QcCMzln5xf7WnA5ofOsLJrRfd986x4sVJ0BcIBy34/s4160/2023-07-07%2018.02.39.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3120" data-original-width="4160" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEilGMMx_9kLwshx7HYmd4vBfaOkYGxX-3PKS795gk6wAnH7yJlgjhkcQ930zU69Mc49jwCjCfkM0ky9MD_bg4z0ZGmW27BcWwpigr0GpRTpFyUZR_mDgsJ5OQbftadMDfBEGcNs2MDwTIxmM7rw18QcCMzln5xf7WnA5ofOsLJrRfd986x4sVJ0BcIBy34/w640-h480/2023-07-07%2018.02.39.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhr8HSSgxtTv16eJX_rNWoqCt-B058DLWVRtDZlMCMFoXoyPRFz1ehTi36Yj2eWSI6j9OO9mY91LrbE_8xGzEzhvKVcUmTAshaeCFnwY3FMGHENkmSe_zHwBY2zXmJftCF-5NTvXD4uRdcfiXfRt84hzF_Sw1nX1yoF-EQDKCPVf6n6DkkWEf_OyerBI3k/s4624/2023-07-07%2018.07.27.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhr8HSSgxtTv16eJX_rNWoqCt-B058DLWVRtDZlMCMFoXoyPRFz1ehTi36Yj2eWSI6j9OO9mY91LrbE_8xGzEzhvKVcUmTAshaeCFnwY3FMGHENkmSe_zHwBY2zXmJftCF-5NTvXD4uRdcfiXfRt84hzF_Sw1nX1yoF-EQDKCPVf6n6DkkWEf_OyerBI3k/w640-h480/2023-07-07%2018.07.27.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCpBa23OKCnfqh3s8OP1e3J3fltOkf2Gj5HPRQVNPybOybqUNH3LStgoTAgH0wZmYHjMLRveEBy3doJAl0e86lgcZsTYc04V8tPgv_Ja4sIbzYrqpv81wPTF659Og22gL5833ac2OxUrlAcnPtIWTBlHFerh3A3IJkS_cMTUfSZsMTTv3JWjo02F4pyB0/s4624/2023-07-07%2018.08.16.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCpBa23OKCnfqh3s8OP1e3J3fltOkf2Gj5HPRQVNPybOybqUNH3LStgoTAgH0wZmYHjMLRveEBy3doJAl0e86lgcZsTYc04V8tPgv_Ja4sIbzYrqpv81wPTF659Og22gL5833ac2OxUrlAcnPtIWTBlHFerh3A3IJkS_cMTUfSZsMTTv3JWjo02F4pyB0/w640-h480/2023-07-07%2018.08.16.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEim-HIlW1g-3bYd9iwQSxM_gBwiIhknNcWWsG89i1Pzf7quD4jp4Ul5u7kQevwLOIKP8CcuHInknMLWqdIFWhTmFOUq7c4BUPAr_Lww3dN9FHDdSEnQMGKRCrWqge5xWP1BRUT8O1arh-I0aSm6OZIWFBzXhXgWghsov8TgqE1-KuqJUQP67TV9_lQJ2Jk/s4160/2023-07-07%2018.17.20.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="4160" data-original-width="3120" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEim-HIlW1g-3bYd9iwQSxM_gBwiIhknNcWWsG89i1Pzf7quD4jp4Ul5u7kQevwLOIKP8CcuHInknMLWqdIFWhTmFOUq7c4BUPAr_Lww3dN9FHDdSEnQMGKRCrWqge5xWP1BRUT8O1arh-I0aSm6OZIWFBzXhXgWghsov8TgqE1-KuqJUQP67TV9_lQJ2Jk/w480-h640/2023-07-07%2018.17.20.jpg" width="480" /></a></div><div style="text-align: center;">Here's the technique: reach your right arm in and turn your body to face the right side of the car. Your hand should easily reach the Radar connector. If you let go of it, that's ok! It dangles and is easily reachable. </div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghCpXK0k8cO31__bLtg-Qhu-LBI0ciTB0n5-_OpdkeckLIYAUTbyZUyQOHtnpKWLm6TPmqMEsxc5NnlKowpXwGd1xP0DogprisHahyIzobRmu-KkyidOOjvy45cAFghIjMiUVHHSSnaqiHIHCCW065rgzOHYYWUw3IDXDuyqfkTiwa7nqxe2SUXqIQJZc/s4624/2023-07-07%2018.11.03.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghCpXK0k8cO31__bLtg-Qhu-LBI0ciTB0n5-_OpdkeckLIYAUTbyZUyQOHtnpKWLm6TPmqMEsxc5NnlKowpXwGd1xP0DogprisHahyIzobRmu-KkyidOOjvy45cAFghIjMiUVHHSSnaqiHIHCCW065rgzOHYYWUw3IDXDuyqfkTiwa7nqxe2SUXqIQJZc/w640-h480/2023-07-07%2018.11.03.jpg" width="640" /></a></div><div style="text-align: center;">Just grab it, hold down the connector tab HARD (which is facing the front of the car) and YANK! Use the same connector on the RI harness to practice the force needed to press down the tab. </div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh74Uur3HJj4GxSf2jKdpAIGG5zFIOFoZfcwa68EDdza-B96W5j5HQrKrz3uamEvjTrPrgi2Q4eUJBOJeia_AalNqVlxHKV2DdFWCKKxKOgYh0ebQb9NSxvPSBYmE-2e2wUtLPfm72tnmM2fjs3Uk6pNkN2GFlIHSx43AtV5VNiiPANh3llmatGms5QJ2I/s4624/2023-07-07%2018.17.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh74Uur3HJj4GxSf2jKdpAIGG5zFIOFoZfcwa68EDdza-B96W5j5HQrKrz3uamEvjTrPrgi2Q4eUJBOJeia_AalNqVlxHKV2DdFWCKKxKOgYh0ebQb9NSxvPSBYmE-2e2wUtLPfm72tnmM2fjs3Uk6pNkN2GFlIHSx43AtV5VNiiPANh3llmatGms5QJ2I/w640-h480/2023-07-07%2018.17.58.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDGkbfYSPjAWXWEJG-DKI1E9uNVFUJ7ZovJnCkNoso7mmfx7BoEvb-7cm8IcN_wp6V8bJnl5cxo5motTm0ykm-hpKnf-3IJzGOETVkCJWg2XfIDQgny0h-VDCXynJCiqThSbne7BMOOaq3oimKWtLWF-WREESkCWFnroJjqNaxSvqjh5uwoipkNOA5gyE/s4624/2023-07-07%2018.19.50.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhDGkbfYSPjAWXWEJG-DKI1E9uNVFUJ7ZovJnCkNoso7mmfx7BoEvb-7cm8IcN_wp6V8bJnl5cxo5motTm0ykm-hpKnf-3IJzGOETVkCJWg2XfIDQgny0h-VDCXynJCiqThSbne7BMOOaq3oimKWtLWF-WREESkCWFnroJjqNaxSvqjh5uwoipkNOA5gyE/w640-h480/2023-07-07%2018.19.50.jpg" width="640" /></a></div><div style="text-align: center;">To make the installation clean, pass the RI harness through the hood latch hole like this. </div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNWg-lb3vGt7jpGv2I-Wai4UivI7vayC_Wvmch5EYb5Z_HEp6USKaTxt7vplz0h9ddqQ9cDWy4vJ-Q5ec2cXinWGvZ1SpOP-GQGt0kUBEtq6PpzCl6i65BiBjHboLdnYjL8M9r-9LrTvdvchefGwzGEj5QZcfNTtoX7qouvMBI4p5ycmoOqpbionWFGuw/s4624/2023-07-07%2018.20.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNWg-lb3vGt7jpGv2I-Wai4UivI7vayC_Wvmch5EYb5Z_HEp6USKaTxt7vplz0h9ddqQ9cDWy4vJ-Q5ec2cXinWGvZ1SpOP-GQGt0kUBEtq6PpzCl6i65BiBjHboLdnYjL8M9r-9LrTvdvchefGwzGEj5QZcfNTtoX7qouvMBI4p5ycmoOqpbionWFGuw/w640-h480/2023-07-07%2018.20.01.jpg" width="640" /></a></div><div style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidJBx1tTIXfCe8BlwmbmC67RkksiMQVcEEmTnJx8kHC02pLlyddKPT5A-8yWczsMKHihfKxi4X_WenJ9zDrYeAh-qfnVNfA5Sl7oAvvRho8yC9aNQkRBO6UA7RmctiyuZJH05Bu9-9bTLuuvm1QmdKYaFYK7-8Tg1K3QTu3QTfQkvTpn3umQmdDbqAKa4/s4624/2023-07-07%2018.19.34.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidJBx1tTIXfCe8BlwmbmC67RkksiMQVcEEmTnJx8kHC02pLlyddKPT5A-8yWczsMKHihfKxi4X_WenJ9zDrYeAh-qfnVNfA5Sl7oAvvRho8yC9aNQkRBO6UA7RmctiyuZJH05Bu9-9bTLuuvm1QmdKYaFYK7-8Tg1K3QTu3QTfQkvTpn3umQmdDbqAKa4/w640-h480/2023-07-07%2018.19.34.jpg" width="640" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5rzhdesk-VFVFZP7-SGeNbGjfO6xDB2_o5zTcP3FZ1HxDU29fDzZQGCpzBIkSaxRNronCm-abaQ-SKc8MuxzHmz63etvN4hqXWKhQe-_eGqeP5UQ2ZkAq7FjYsOqkUsWXXslu-1PSrD1PwaB5jwHE_JL2MMRhRYYUoHV4xFFji8gAmavGHWYJDoLqDYE/s4160/2023-07-07%2018.25.18.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3120" data-original-width="4160" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5rzhdesk-VFVFZP7-SGeNbGjfO6xDB2_o5zTcP3FZ1HxDU29fDzZQGCpzBIkSaxRNronCm-abaQ-SKc8MuxzHmz63etvN4hqXWKhQe-_eGqeP5UQ2ZkAq7FjYsOqkUsWXXslu-1PSrD1PwaB5jwHE_JL2MMRhRYYUoHV4xFFji8gAmavGHWYJDoLqDYE/w640-h480/2023-07-07%2018.25.18.jpg" width="640" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj6Sil9STWiE13NDwEnlLzBgUDEikSvimcwQCoIBV1jQXF9jNgWNtWRbttAxydzt35eCKnhNpf9_F977xY27Gy8ZQKNnzEqkQAjnSZfybCBfD4YoUMpiufYQHCBFkh4Vha402mLyxqwqYOsbc_bRL00eZdCRNJWPetKsbHAoRkmZxBh13XAy4f7R1uaUwk/s4160/2023-07-07%2018.26.09.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3120" data-original-width="4160" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj6Sil9STWiE13NDwEnlLzBgUDEikSvimcwQCoIBV1jQXF9jNgWNtWRbttAxydzt35eCKnhNpf9_F977xY27Gy8ZQKNnzEqkQAjnSZfybCBfD4YoUMpiufYQHCBFkh4Vha402mLyxqwqYOsbc_bRL00eZdCRNJWPetKsbHAoRkmZxBh13XAy4f7R1uaUwk/w640-h480/2023-07-07%2018.26.09.jpg" width="640" /></a></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJbAgL2cyg6OCPcOmJP3MiIVtNWjL2s_Qm_hoqPWtVoh9NPPIkFROQjz70hE3wcSh_OPuOaH2zMsn717oBhCcIvZHA21IBCHlIF26te42Y0nHg78_XxjJc-5UhIYGPTV__QlYqeG_K-yzz24Jjly7PO_MIGkZ1gz0CpVzZEhNnoPqZykTGkaUCuswwsis/s4624/2023-07-07%2018.51.28.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="4624" data-original-width="3468" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJbAgL2cyg6OCPcOmJP3MiIVtNWjL2s_Qm_hoqPWtVoh9NPPIkFROQjz70hE3wcSh_OPuOaH2zMsn717oBhCcIvZHA21IBCHlIF26te42Y0nHg78_XxjJc-5UhIYGPTV__QlYqeG_K-yzz24Jjly7PO_MIGkZ1gz0CpVzZEhNnoPqZykTGkaUCuswwsis/w480-h640/2023-07-07%2018.51.28.jpg" width="480" /></a><br />Note that I did not leave any of the cable coiled, and I passed it ALL through the firewall into the cabin. I added some zipties to hold the cable to the chassis bits under the rubber piece on the right. The cable was long enough to reach all the way up to my camera and Comma harness.</div><div class="separator" style="clear: both; text-align: center;"><div class="separator" style="clear: both;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPIcf2NFLbBMvI4nug7Nyj39jLcHdqXG1X14LxEwIZYwydJqLQTNeFsIdOBirtg9MwEWJJwjiq849rUzoGv-WJmC2wZn0RRdAcM5z36dFpKoEkRiV6jkAvYEAZ6oYEWGu7UiCzk0xs1h5zNF42qyjxKgLYprVihRU7wtROCne3XmgC28jBpDW0fnhcBMY/s4624/2023-07-07%2018.39.47.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="4624" data-original-width="3468" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPIcf2NFLbBMvI4nug7Nyj39jLcHdqXG1X14LxEwIZYwydJqLQTNeFsIdOBirtg9MwEWJJwjiq849rUzoGv-WJmC2wZn0RRdAcM5z36dFpKoEkRiV6jkAvYEAZ6oYEWGu7UiCzk0xs1h5zNF42qyjxKgLYprVihRU7wtROCne3XmgC28jBpDW0fnhcBMY/w480-h640/2023-07-07%2018.39.47.jpg" width="480" /></a></div><div class="separator" style="clear: both;">This is the big rubber piece that passes the wiring from the engine bay into the cabin, viewed from the engine bay. We're going to go around it. No need to remove the battery! You will be able to snake and reach the RI cables into the edge using the following technique</div><div class="separator" style="clear: both;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYEEQGatPKRKSfWRqJvI3lwP0UlbGHrWEGrt_ohSUeqPVFm5CvoW_N2L79KlYMgmdTHZWSU-gbnIMP1rsNw_uVijLOm4ASxaaeSsFPO__vGf4l9gNL9-Gwe3XT3F2wsRaUVd6NF8no-KFIsGs2_87p3l9DegTaQpexSRH5hawUa3_RGw1WGD8b1NNH1Qo/s4624/2023-07-07%2018.43.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="3468" data-original-width="4624" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYEEQGatPKRKSfWRqJvI3lwP0UlbGHrWEGrt_ohSUeqPVFm5CvoW_N2L79KlYMgmdTHZWSU-gbnIMP1rsNw_uVijLOm4ASxaaeSsFPO__vGf4l9gNL9-Gwe3XT3F2wsRaUVd6NF8no-KFIsGs2_87p3l9DegTaQpexSRH5hawUa3_RGw1WGD8b1NNH1Qo/w640-h480/2023-07-07%2018.43.58.jpg" width="640" /></a></div><div class="separator" style="clear: both;">From under the steering column/dashboard, you can shove a screwdriver around the edge to make a little gap and a "hook" for the RI wires to hold onto. This image shoes the wires already in the cabin. I used pliers to pull them through once the first bits came through.</div><div class="separator" style="clear: both;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxl2PePK0_zewf-BI4Kt_LFFGm4rThzAra1x_uGifFeqo9XKZAHnQkaiJNXRFy7HFYHcHPYsAeJRmvTB3rBZfM1oNFcc9ne-s2viG5aB6M_1mb5n9oboxilHH01WhpHVwv7DFpSlHKEjWQk0MuMPR52UWB3RInitFQ5Gsuf8l4zrrJYkGKfZxVfyO4dRQ/s4624/2023-07-07%2018.40.00.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="4624" data-original-width="3468" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxl2PePK0_zewf-BI4Kt_LFFGm4rThzAra1x_uGifFeqo9XKZAHnQkaiJNXRFy7HFYHcHPYsAeJRmvTB3rBZfM1oNFcc9ne-s2viG5aB6M_1mb5n9oboxilHH01WhpHVwv7DFpSlHKEjWQk0MuMPR52UWB3RInitFQ5Gsuf8l4zrrJYkGKfZxVfyO4dRQ/w480-h640/2023-07-07%2018.40.00.jpg" width="480" /></a></div><div class="separator" style="clear: both;">This is what it will look like from the engine bay. Remember to remove the screwdriver once all the slack is pulled through! </div><div class="separator" style="clear: both;"><br /></div><div class="separator" style="clear: both; text-align: justify;">Now just remove the rubber skirt around the driver's side door (it just pulls off nondestructively), remove the bottom left panel, snake the cable through there, all the way up to the visor, across the front and into the injection molded camera case where the Comma harness is installed. I carefully removed the Orange CAN-H and Green CAN2-L pins from the white connector on the Comma harness, passed each wire through its own red splice connector, then reinserted the pins into the white connector. I then spliced in the red and black RI wires, using pliers to make sure the splice was secure (it's hard to do by hand). </div></div>Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com1tag:blogger.com,1999:blog-9152520942772001273.post-55888335877802683762016-05-15T05:29:00.000-04:002016-05-15T05:29:35.333-04:00Seek and Geek 11: CMYK Screen Printing!<div class="separator" style="clear: both; text-align: center;">
CHECK THIS OUT!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEit34-8TOp6U2YXuICezkSUOyEQcEqsGEO15lPe6XoTQ19BYjayzk8iPh2NJDFBYBZ8IrQ05_KaR3Z1Qu1Kgy89E_yUgGz3Yk2vdzTdOAVu6_N5dXIopVR9gGJKGf0b4QqU2-dyIoDblLY/s1600/CMYK.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="358" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEit34-8TOp6U2YXuICezkSUOyEQcEqsGEO15lPe6XoTQ19BYjayzk8iPh2NJDFBYBZ8IrQ05_KaR3Z1Qu1Kgy89E_yUgGz3Yk2vdzTdOAVu6_N5dXIopVR9gGJKGf0b4QqU2-dyIoDblLY/s640/CMYK.gif" width="640" /></a></div>
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This is a method of color screenprinting shirts called CMYK printing, which uses Cyan, Magenta, Yellow, and blacK to product a full-color image, just like a color 2D printer would. </div>
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In order to ensure proper alignment of each layer for each Tee shirt, precise coupling of some kind must be used. If you look at the bottom right, it seems some kind of endstop is used to ensure each screen is located properly in the horizontal direction, and the rood itself butts up against the metal frame to align the vertial direction and prevent rotations. While this may not exactly be micron repeatability, this certainly seems good enough for this application! Perhaps I should make a Kinematic Screen Printing Coupling? Maybe in the future!</div>
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<iframe allowfullscreen="" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/IN9XFXfNSgQ/0.jpg" frameborder="0" height="266" src="https://www.youtube.com/embed/IN9XFXfNSgQ?feature=player_embedded" width="320"></iframe></div>
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Here's a video of a photographic image recreated by this process. This time, a machine is used with four stations and four tee shirt holders that move from station to station, where each station only puts down one color. I imagine some kind of final alignment features are used in order to get each station to be repeatably applied to each tee shirt. </div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com35tag:blogger.com,1999:blog-9152520942772001273.post-45764211521101061892016-05-15T05:16:00.000-04:002016-05-15T05:16:04.710-04:002.77 PUPS 11: Documentation<div style="text-align: center;">
Thanks a lot, Professor Slocum, for teaching this great class! I've learned a lot and I can't wait to apply my new skills to my future designs. </div>
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Here is a link to my final report: <a href="https://www.dropbox.com/s/h888efp11hypw94/dgonz_277FinalReport.pdf?dl=0">Dropbox Link</a></div>
<h2>
<div style="text-align: center;">
Owner's Manual: </div>
</h2>
<h3>
Home configuration:</h3>
<ul>
<li>Clamp (Y) axes both fully disengaged, back clamp screw touching the rear top plate. </li>
<li>X axis against wall near its stepper motor</li>
<li>Z axis all the way up.</li>
</ul>
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<h3>
Electronics and turning on your FASBot: </h3>
</div>
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</div>
<ul>
<li>The FASBot uses a 22.2 LiPo battery, which can last it a long time. Place the battery inside the FASBot's electronics compartment on the hook-and-loop fastener patch. The power connectors should be facing AWAY from the wall.</li>
<li>To turn the FASBot on, flip the switch on the backside UP. </li>
<li>A digital display shows the battery's voltage. This battery will charge up to 25V and should be disconnected and charged before it reaches 18V.</li>
</ul>
<div>
<h3>
Software and communicating with your FASBot: </h3>
</div>
<div>
<ul>
<li>The FASBot uses an Arduino Uno with grbl CNC firmware. </li>
<li>The Arduino Uno is fitted with an XBee wireless communication device on a shield. An identical Xbee attached to a USB dongle is required to communicate with the FASBot. This XBee will show up as a serial port on your computer. In order to allow for reliable wireless communication, a serial baud rate of 19200 must be used. </li>
<li>The FASBot can be controlled using GCode from the CNC GCode Interpreter. </li>
<li>For its intended purpose in aircraft manufacturing, a Python program was written in order to allow the FASBot to be integrated with the Triple Scissor Extender and allow the pair to work together autonomously. The FASBot must be turned ON before running the Python program. </li>
</ul>
<div style="text-align: center;">
<b><u>FASBotTest.py</u></b></div>
</div>
<pre style="background: #f0f0f0; border: 1px dashed #cccccc; color: black; font-family: "arial"; font-size: 12px; height: auto; line-height: 20px; overflow: auto; padding: 0px; text-align: left; width: 99%;"><code style="color: black; word-wrap: normal;"> """
FASBot control software
by Daniel J. Gonzalez - dgonz@mit.edu
Spring 2016
"""
import serial
import time
# Open grbl serial port
s = serial.Serial('COM13',19200)
def setupFASBot():
# Wake up grbl
s.write("\r\n\r\n")
time.sleep(2) # Wait for grbl to initialize
s.flushInput() # Flush startup text in serial input
sendG('G20')
def sendG(msg):
print 'Sending: ' + msg
s.write(msg+'\n')
grbl_out = s.readline()
print ' : ' + grbl_out.strip()
def exitFASBot():
# Close file and serial port
s.close()
def sendFasten():
#Drive Spindle
sendG('S100 M3')
#Move Spindle Down
sendG('G90 G0 Z-1.25')
#Turn OFf Spindle
sendG('M5')
#Move Spindle Back up
sendG('G90 G0 Z-0.5')
def test():
setupFASBot()
"""
for i in range(0,25):
sendG('G90 G0 X3')
sendG('G90 G0 X4')
raw_input(" Press <Enter> to Move to rest location.")
"""
#raw_input(" Press <Enter> to Start up FASBot.")
#Move Spindle To Side
sendG('G90 G0 X4.5 Z-0.5') #(1.783/2) #(1*(1.75))
#raw_input(" Press <Enter> to Close Clamp.")
#Close Clamp
sendG('G90 G0 Y1.6')
#raw_input(" Press <Enter> to Start Fastening Job.")
for i in range(0,6):
sendG('G90 G0 X'+str(i*1.75))
sendFasten()
#raw_input(" Press <Enter> to Move to pickup position.")
#Move Spindle Home
sendG('G90 G0 X4.5 Z0')
#raw_input(" Press <Enter> to Open Clamp.")
#Open Clamp
sendG('G90 G0 Y0')
#raw_input(" Press <Enter> after FASBot is removed from TSE.")
#Move Spindle To Side
sendG('G90 G0 X0') #(1.783/2) #(1*(1.75))
exitFASBot()
test()
</code></pre>
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<div>
This test program requires the user to press ENTER in order for the FASBot to perform the next move. By putting this code into the code running the Triple Scissor Extender, they can both be used together autonomously. For the demonstration, two computers were used, each running its own program that required the user to press Enter<br />
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Once the Python program exits, the FASBot may be turned off.<br />
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<div style="text-align: center;">
Aaaaaaaaaaaand that's a wrap! </div>
</div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com22tag:blogger.com,1999:blog-9152520942772001273.post-4485326163623989212016-05-15T04:34:00.003-04:002016-05-15T04:34:35.027-04:00Seek and Geek 11: Ultimaker 3D Printer<div style="text-align: justify;">
The Ultimaker is a great 3D printer that is known in the desktop 3D printing community for printing quickly and reliably. It can use both ABS and PLA filament, and the original is made from a lasercut plywood construction and assembled using slotted "t-nuts" (The community calls these bolted joints t-nuts even though these aren't real T-Nuts, which you can use to clamp parts to a mill bed, among other things).</div>
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This sounds similar to my FASBot! Here I will look into the similarities and differences between the two.</div>
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<img height="426" src="http://3dprintingforbeginners.com/wp-content/uploads/2013/04/Ultimaker_0041.jpg" width="640" /></div>
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To start, the material, while also wood, is plywood, as opposed to MDF. According to some online sources (http://www.diffen.com/difference/MDF_vs_Plywood), plywood is stiffer than MDF an is less sensitive to moisture. </div>
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How much stiffer is plywood than MDF? According to <a href="http://www.matweb.com/search/datasheet.aspx?matguid=bd6620450973496ea2578c283e9fb807&ckck=1">Matweb</a>, the Young's Modulus of plywood is 9.8 GPa. According to <a href="http://www.makeitfrom.com/compare/6061-AlMg1SiCu-3.3214-H20-A96061-Aluminum/Medium-Density-Fiberboard-MDF/">MakeItFrom</a>, the Young's Modulus of MDF is only 4GPa. Plywood is over twice as stiff! </div>
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This is probably bcause MDF is compressed bits of wood fibers while plywood has long grains. It's the difference between baking a cake of carbon fiber shavings and epoxy versus making a tube from longer strands of carbon fiber epoxied together. The latter will be stronger. </div>
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<img height="426" src="http://3dprintingforbeginners.com/wp-content/uploads/2013/04/Ultimaker_0060.jpg" width="640" /></div>
<div style="text-align: center;">
The main structure forms a cube that is held together with slots and tabs for alignment, and "T-nuts" to keep everything together. </div>
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<img height="640" src="http://3dprintingforbeginners.com/wp-content/uploads/2013/04/Ultimaker_0089.jpg" width="426" /></div>
<div style="text-align: justify;">
The printer uses belt drive for the X-Y axes, and a hefty leadscrew for the Z axis. Here are the main guides that transmit force to the printer head. A single, long bushing is pressed through each, that looks about 3X as long as the diameter of the shaft. Saint Venant strikes again! The belts are tensioned using those little clamps sticking out the sides. </div>
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<img height="640" src="http://32b.it/wp-content/uploads/2013/02/IMG_7910.jpg" width="480" /></div>
<div style="text-align: justify;">
Each axis has a pair of these guides, spaced far apart. Each slides along a shaft that also transmits motor torque. The axis shafts are held at each end with a radial bearing that are held in place with a pair of plates (shown above disassembled). </div>
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<img height="426" src="http://3dprintingforbeginners.com/wp-content/uploads/2013/04/Ultimaker_0107.jpg" width="640" /></div>
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<div style="text-align: justify;">
Like my FASBot clamp axes, the Ultimaker transmits motor force to one direct leader slide and one follower slide through a belt transmission. Using this construction, force can be applied to both sides at once, preventing jamming. Each pair of slides pushes another shaft sideways, causing the printer head to move. The printer can still slide along this shaft, but is constrained by an orthogonal shaft coupled to another pair of slides. </div>
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<div style="text-align: center;">
<img src="http://32b.it/wp-content/uploads/2013/02/IMG_7919.jpg" /></div>
<div style="text-align: justify;">
The build platform is the carriage of the Z axis. It has two beefy sides to allow it to be cantilevered without much deflection, and a pair linear bearings allow it to move only up and down.</div>
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<div style="text-align: center;">
<img height="640" src="http://32b.it/wp-content/uploads/2013/02/IMG_7918.jpg" width="480" /></div>
<div style="text-align: justify;">
The bearings are held in place with stacked parts. Note that the length of this bearing is about 3X the diameter of the guide shaft. Saint Venant! </div>
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<img height="426" src="http://3dprintingforbeginners.com/wp-content/uploads/2013/04/Ultimaker_0111.jpg" width="640" /></div>
<div style="text-align: justify;">
The leadscrew is constrained at the bottom using a rigid shaft coupling that attaches a stepper motor located underneath the printer bottom plate. A bearing supports the shaft coupling, and thus the leadscrew, axially. The leadsrew is not constrained at all from the top, which would allow it to. This is acceptable, because the printer process is only sensitive while the bed is moving downward, and this occurs in tiny steps of 0.001" (~ 20 microns) at a time. The only forces the leadscrew will see are downward gravitational forces. </div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com15tag:blogger.com,1999:blog-9152520942772001273.post-78008160943764148872016-05-13T09:05:00.003-04:002016-05-13T09:05:55.280-04:002.77 PUPDate! (PUPS 10 Part 2)<div style="text-align: center;">
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<span style="font-family: Trebuchet MS, sans-serif;">What a ride this class has been! Almost done!</span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">In the last PUPDate, it's made obvious that everything works to some extent.</span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">But how well does it work? What didn't exactly work? What would I change in a second iteration? </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">I tested the axis positioning repeatability and backlash to validate the module's design. Because both the clamp and nut driver axes are based on the same design, and because most axes are hard to reach or to instrument (instrumentate?), I decided to test only the X- axis. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgUe_ifV4pWSI8edr-QcXH2Nc6pbKdQ1-skaQquHwMi-EAp_1TDyvOMx_6PvPmckLY-u0E4UrCovejEdIPSUfaO0K7QPu00OrTgqN9yMmsTcJf3U-xr0aXjTbMuIucOo9KrM1C_qG2BOqM/s1600/FASBotdialTest.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgUe_ifV4pWSI8edr-QcXH2Nc6pbKdQ1-skaQquHwMi-EAp_1TDyvOMx_6PvPmckLY-u0E4UrCovejEdIPSUfaO0K7QPu00OrTgqN9yMmsTcJf3U-xr0aXjTbMuIucOo9KrM1C_qG2BOqM/s640/FASBotdialTest.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;"><iframe allowfullscreen="" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/TNFDTFbEdHM/0.jpg" frameborder="0" height="266" src="https://www.youtube.com/embed/TNFDTFbEdHM?feature=player_embedded" width="320"></iframe></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here, the FASBot consistently moved slightly under the 0.005" it was commanded to move, implying a systematic error. This is possibly due to rounding errors in the conversion from mm to inches in the grbl firmware, which add up after a few hundred steps. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">After moving left, I attempted to switch directions and move right in order to measure the axis backlash. I kept track of how many jog commands it took before it began to move again. The backlash is 0.025", just under 1/32". This is probably due to the exact locations of the tooth engagement and the series spring compression. I can probably use a stiffer spring with a longer stroke, or disassemble the axis and find the right combination of nut rotation that allows for the most spring compression and the least backash. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The repeatability test had the FASBot continually moving its X-axis between 4 and 3 inches in order to move past the backlash hysteresis. The dial indicator was zeroed for the first data point reaching 4 inches. I measured each data point when the carriage stopped at 4 inches and manually entered it into MATLAB. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">3 Test Trials were conducted, with the FASBot being homed after each one. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Tests 1 and 2 exhibit similar behavior, with the machine always reaching farther and farther away from the original position. Test 2 was the worst, with the FASBot moving further and further away from the zero'd position after each move. The maximum deviation was 0.035 inches, more than the axis backlash! I imagine this behavior can be attributed to the stepper motor skipping steps every time it moves, perhaps because it must overcome static frictional torque. If my axes are overconstrained, I can add a flexure to or machine the sides of one of my axis bushings in order to eliminate this overconstraint. </span></div>
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<span style="text-align: justify;"><span style="font-family: Trebuchet MS, sans-serif;">Microstepping may have also been useful to prevent skipping steps due to motor vibration. I conducted these tests with full stepping, in order to maximize motor torque, but the sharp vibrations in the stepper motor during acceleration/deceleration could have been enough to cause it to skip steps. I could switch to half- or quarter-stepping and see if I can achieve smoother motion with no continuous deviation. All of the error can be eliminated using feedback control. </span></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The best repeatability was achieved in Test 3, with a maximum deviation of 0.0055 inches. Perhaps after all of the previous trials, the bearings had smoothed out and the static friction was decreased, or maybe I just got lucky with the motor vibrations. </span></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com7tag:blogger.com,1999:blog-9152520942772001273.post-82286871447453475862016-05-09T07:19:00.001-04:002016-05-09T07:19:06.099-04:002.77 PUPDate: Manufacturing, Assembly, System Integration, Testing<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvx0FUFP0dGLkZf7-g0kYHTWxriBpURK_eVJwWy5qLDVEhZqg11gDJy3bo-dpuBQ6O_zGGPPcEN-pByzf86gnurRKGEKPxcmapXFxp6OR0ZfrW4Sh4bUD-XdUM77b5YCHU0gvIP_QMJJg/s1600/2016-04-21+13.57.56.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvx0FUFP0dGLkZf7-g0kYHTWxriBpURK_eVJwWy5qLDVEhZqg11gDJy3bo-dpuBQ6O_zGGPPcEN-pByzf86gnurRKGEKPxcmapXFxp6OR0ZfrW4Sh4bUD-XdUM77b5YCHU0gvIP_QMJJg/s640/2016-04-21+13.57.56.jpg" width="360" /></a></div>
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THE PARTS ARRIVED!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0nYPLceAI6zoZgA6bOtKwvz4jZudOyUKO9F-SUl2BNODc2_SrK5miK3dA4Rt-grCQ3iZuf9lSdHVVrbEtBdjzy92ZP_fGeduynNWdSwr5gswhr0Y97Zm1rLPuvDFcJ6ew1IjHMhcm8Js/s1600/2016-04-21+14.07.02.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0nYPLceAI6zoZgA6bOtKwvz4jZudOyUKO9F-SUl2BNODc2_SrK5miK3dA4Rt-grCQ3iZuf9lSdHVVrbEtBdjzy92ZP_fGeduynNWdSwr5gswhr0Y97Zm1rLPuvDFcJ6ew1IjHMhcm8Js/s640/2016-04-21+14.07.02.jpg" width="640" /></a></div>
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And I have plenty of MDF. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhscKpM-JSQ7xEFHeOk3phJy2-SE_JihOBQbSjrrvpdqKyPwq_xna5J7meRrmzAsVqMigPsMVF7D3B9DQHQwmZBk97QdYPD86XXPQLfh3re7wQXui3Sam8IucPXDuo2fvpGl0_c8_ZoS1M/s1600/2016-04-26+00.49.16.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhscKpM-JSQ7xEFHeOk3phJy2-SE_JihOBQbSjrrvpdqKyPwq_xna5J7meRrmzAsVqMigPsMVF7D3B9DQHQwmZBk97QdYPD86XXPQLfh3re7wQXui3Sam8IucPXDuo2fvpGl0_c8_ZoS1M/s640/2016-04-26+00.49.16.jpg" width="640" /></a></div>
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I made the mockup on the underside of a wall we had for an old climbing robot we had in lab. The climber, funny enough, is to perform the outside fastener drilling, reaming, countersinking, and placement for the 787. It seems fitting to have a mockup on the inside of the climbing wall!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4Zd30j8TOZeb9sVuFBWGEJBrQpj3a2brP1cP0o5X2S2sYQIVp6DjdbuR0uri1wCteHSleeGdS7LgvMj4N3D9Zn-z-_kwujyntwE8HgDN6NyvishNGakLSzAGbNpAZ0SfC_nk8qyk60NE/s1600/2016-04-26+00.49.29.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4Zd30j8TOZeb9sVuFBWGEJBrQpj3a2brP1cP0o5X2S2sYQIVp6DjdbuR0uri1wCteHSleeGdS7LgvMj4N3D9Zn-z-_kwujyntwE8HgDN6NyvishNGakLSzAGbNpAZ0SfC_nk8qyk60NE/s640/2016-04-26+00.49.29.jpg" width="360" /></a></div>
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I waterjet the Shear Tie and Stringer out of some UHMW Polyethylene we had lying around in lab. The coefficient of friction between these parts and the urethane rubber I purchased for the clamp axes felt quite high, and was 0.5 from looking up tests online. I bent the components using a heat gun to heat a perforated line I waterjetted into each component, then clamped them to big pieces of Aluminum we had in lab. This worked fairly well, and while the components are not nearly as stiff as the composites used in the 787, they will work well to hold the FASBot and demonstrate the concept to the Boeing visitors!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNl76eYKwzFRv_zuU9qkjLDMPjN6B6SlzQykP90MWXyNSCCxkykMzb_fAM4TyDbWUZYAiGyvMipAW3xNkBM2QbqhpZxnE69l9FuC3q_NGA1wdK1cOLWzV9u7Tm6dP9lIpRqjgYYZPRb-c/s1600/2016-04-26+04.08.10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNl76eYKwzFRv_zuU9qkjLDMPjN6B6SlzQykP90MWXyNSCCxkykMzb_fAM4TyDbWUZYAiGyvMipAW3xNkBM2QbqhpZxnE69l9FuC3q_NGA1wdK1cOLWzV9u7Tm6dP9lIpRqjgYYZPRb-c/s640/2016-04-26+04.08.10.jpg" width="360" /></a></div>
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Here's my bigger Master's project, the Triple Scissor Extender, with an 8020 end effector attached to the top plate, moving up against the fuselage facade. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnuzwObXKeoOp_s82ZngmcL7jJz8NWqRE-CEl7wElt8FDyvLHs3e1UQZeALNSv8FtrmI9nMyq6mZ81e_GLTCjRmJB5HBCACvzhVeNoHWB6KB3-aqkde0b2nAANqt6co2-Jv6f_GDl2CQg/s1600/2016-04-26+04.29.10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnuzwObXKeoOp_s82ZngmcL7jJz8NWqRE-CEl7wElt8FDyvLHs3e1UQZeALNSv8FtrmI9nMyq6mZ81e_GLTCjRmJB5HBCACvzhVeNoHWB6KB3-aqkde0b2nAANqt6co2-Jv6f_GDl2CQg/s640/2016-04-26+04.29.10.jpg" width="360" /></a></div>
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Here it is matching the angle with the fuselage facade. This will work nicely!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhn3aGhTe6aEfEwYAoEL6Jmuy4XzTvW7jRMe-vTj-PkcQaFlcpYkOSEe7c64Uk1UvhCvA96TidwRZHzWitF1q1Br7sR6OdcSZA_ttUqtoKPHQ3WXMSRkr-n3mpCCnsfWzFdY3uQQzpR0pA/s1600/2016-04-26+04.29.16.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhn3aGhTe6aEfEwYAoEL6Jmuy4XzTvW7jRMe-vTj-PkcQaFlcpYkOSEe7c64Uk1UvhCvA96TidwRZHzWitF1q1Br7sR6OdcSZA_ttUqtoKPHQ3WXMSRkr-n3mpCCnsfWzFdY3uQQzpR0pA/s640/2016-04-26+04.29.16.jpg" width="360" /></a></div>
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I can't wait to talk all about this big guy to you and the rest of the Machine Design Qual committee this IAP! I hope you like the work I've done!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJTuUjR1Pg1fWGi-OnGSQW_ezwNGoScurCBbYRrZ7EIvgZ6oxueT2qAQoj0pWShySf8KtExvmxLitl5y6oWUYCiuwYAlBts1k2yENcYxGzcByTyYwK60H7L1XKq3QYd2vY6iOKR5YAt3E/s1600/2016-04-26+04.58.57.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJTuUjR1Pg1fWGi-OnGSQW_ezwNGoScurCBbYRrZ7EIvgZ6oxueT2qAQoj0pWShySf8KtExvmxLitl5y6oWUYCiuwYAlBts1k2yENcYxGzcByTyYwK60H7L1XKq3QYd2vY6iOKR5YAt3E/s640/2016-04-26+04.58.57.jpg" width="360" /></a></div>
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In a desperate attempt to put together a quick kinematic coupling in a situation where accuracy is not important, but repeatability would be useful, I put together this crazy thing out of 8020 adjustable-angle bracket bottoms that actually worked! It's three grooves for the FASBot-TSE Kinematic Coupling, which will have a set of permanent magnets in the center for preloading the FASBot. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3-2qQh6vvnoq_FVYTlqpyGqdSlb1IewBptXmEEwB-OZfgD6wMXyUd6xwBkMS0FsuTtURzkQl7_Yuk3o3VRxe6FboUMg393zZ3uZ-z5wrHStkvAA4Zb2VEuh0dv4XclamAcr7CC2BQFHw/s1600/2016-04-29+05.42.07.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3-2qQh6vvnoq_FVYTlqpyGqdSlb1IewBptXmEEwB-OZfgD6wMXyUd6xwBkMS0FsuTtURzkQl7_Yuk3o3VRxe6FboUMg393zZ3uZ-z5wrHStkvAA4Zb2VEuh0dv4XclamAcr7CC2BQFHw/s640/2016-04-29+05.42.07.jpg" width="640" /></a></div>
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Off to lasercutting! First I cut a set of components where the fine hole tolerances didn't matter as much. Because the lasercutter cuts ON the line and does not compensate for kerf, I know through experience that all of the slots and tabs will fit nicely. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjoRN0iYL0rx16brW0X7OSp2hf161PGAFDEf-yU3iVN3B1YwF4iXL0cVl-CFqIh9bdZfb85beDOrfTosW5PSiuqMSFt97Nelwx3RAzwMn6tTwMFzdI07d5AjdpfXzNndf_LnzBgK6A2tE/s1600/2016-04-29+04.45.23.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjoRN0iYL0rx16brW0X7OSp2hf161PGAFDEf-yU3iVN3B1YwF4iXL0cVl-CFqIh9bdZfb85beDOrfTosW5PSiuqMSFt97Nelwx3RAzwMn6tTwMFzdI07d5AjdpfXzNndf_LnzBgK6A2tE/s640/2016-04-29+04.45.23.jpg" width="360" /></a></div>
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For the parts that do require nice fits, such as for the ACME nuts and the leadscrew and linear slide bushings, I cut a nominal test piece out, measured the actual size of the holes and of the piece, and then tested the fits. They all fit too loosely, so I made the holes a little smaller in the CAD so the cut parts would come out exact. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2sZS2OJ8hyjPsgXir8KTcA79Qur7dgt1uR7wreTDf3goqkcCdtOshhKKsHUWJlht447hQ3HJ61tWqJbbW01QKHkTZBibmiwTDmsSQ5h689UYSZ0G0u2AnA_ZutRi8ZN3Vc26Fvpbio-Y/s1600/2016-04-29+06.41.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2sZS2OJ8hyjPsgXir8KTcA79Qur7dgt1uR7wreTDf3goqkcCdtOshhKKsHUWJlht447hQ3HJ61tWqJbbW01QKHkTZBibmiwTDmsSQ5h689UYSZ0G0u2AnA_ZutRi8ZN3Vc26Fvpbio-Y/s640/2016-04-29+06.41.01.jpg" width="640" /></a></div>
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Et Voila! Lots and LOTS of parts! Time to assemble it all!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhEmnfxzbo7CkK_tIMpDIZQYUjD4QqD2Nu5O_XipZcq8R2I7y8izCW9pikEmZ6VgtSCE2twNZt7tjDYH4AK2tdhgbOUY1L__L0vjKX44lhXXJIVZ80RzCEQjYCrRnwq7EMMxNyNR_7kDE/s1600/2016-04-29+20.37.15.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhEmnfxzbo7CkK_tIMpDIZQYUjD4QqD2Nu5O_XipZcq8R2I7y8izCW9pikEmZ6VgtSCE2twNZt7tjDYH4AK2tdhgbOUY1L__L0vjKX44lhXXJIVZ80RzCEQjYCrRnwq7EMMxNyNR_7kDE/s640/2016-04-29+20.37.15.jpg" width="640" /></a></div>
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They fit together well enough, but there were issues with tapering, like you'd see on a waterjet, but something I didn't predict would happen with the lasercutter. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHTAJkY7ABXfzkq2AjaN7CKekZePaYN7zBMNPFfPhwvPiQWEPGqiHPuWFgSD0HQg4Nf916Oewcl6KZDPhrsk5KWMkuEVSzTL6dHcmFPu1TM5Sc0Niu00FAziRxPz0Al6m07suVOftXv24/s1600/2016-04-29+20.37.27.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHTAJkY7ABXfzkq2AjaN7CKekZePaYN7zBMNPFfPhwvPiQWEPGqiHPuWFgSD0HQg4Nf916Oewcl6KZDPhrsk5KWMkuEVSzTL6dHcmFPu1TM5Sc0Niu00FAziRxPz0Al6m07suVOftXv24/s640/2016-04-29+20.37.27.jpg" width="640" /></a></div>
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The taper preloaded the bushings radially and actually made it difficult to slide the linear rail through!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6_LVH_cPu7neNzm0GeDlt3YLGIK2pQZmOgvmlb0T0xM6-MUKJ7dzjNrID9SZVlyZFZXr69OT5ZLKfChgcXWqOdvW9qI-AX_ndmXR5zs8zt1HesL-0MJ6YAprfYSQehwXGh0V4mfRIpvc/s1600/2016-04-29+21.16.10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6_LVH_cPu7neNzm0GeDlt3YLGIK2pQZmOgvmlb0T0xM6-MUKJ7dzjNrID9SZVlyZFZXr69OT5ZLKfChgcXWqOdvW9qI-AX_ndmXR5zs8zt1HesL-0MJ6YAprfYSQehwXGh0V4mfRIpvc/s640/2016-04-29+21.16.10.jpg" width="360" /></a></div>
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I took a reamer to every hole that mattered, and it seemed to fix the issue. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEVbWnCIPsMdyT_na4forwE_1pkZTQ632y5sys6vOaeCXmAsIrHdV_BbmKfU7XXDDLIsuKv-2Cuu48BgRLqwUzalvK_HUdjOYzzS3Z5HhAGQ6eCjYUh-hvohtz8KZk6aGgrzL10hUEIB8/s1600/2016-04-29+22.03.48.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEVbWnCIPsMdyT_na4forwE_1pkZTQ632y5sys6vOaeCXmAsIrHdV_BbmKfU7XXDDLIsuKv-2Cuu48BgRLqwUzalvK_HUdjOYzzS3Z5HhAGQ6eCjYUh-hvohtz8KZk6aGgrzL10hUEIB8/s640/2016-04-29+22.03.48.jpg" width="640" /></a></div>
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Axis 1 and 2 assembled! I made a 3D printed holder for the DC motor powering the nut driver, that couples to the planetary gearbox housing using the same U-shaped pin from the electric screwdriver from the past Seek and Geek.The structure also serves to clamp the vertical axis together. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZDB4-lDBTrPR04ib_VqRbswFD5enZu12wxzuOxsb2jXTnmSOgcyWHal14bHc6W8KHd67eX-4xN097OrJ1tAEdp6Y7I3DwW1Dyb2aMeFaV3lYyfwdNtEtm-KdSalGp4fVcs6tfWzt4AIo/s1600/2016-04-29+22.04.10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZDB4-lDBTrPR04ib_VqRbswFD5enZu12wxzuOxsb2jXTnmSOgcyWHal14bHc6W8KHd67eX-4xN097OrJ1tAEdp6Y7I3DwW1Dyb2aMeFaV3lYyfwdNtEtm-KdSalGp4fVcs6tfWzt4AIo/s640/2016-04-29+22.04.10.jpg" width="640" /></a></div>
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Here are the twin clamp axes! </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTNjoIqL4k7KUB0F-2yf5S1U1ZlaUmx5bJF5hMEf5neImmGrA2x9RZKR7i5u5QRw_DRl9nvRD6hfZ_d4Egnju2Ly7y1Om79J8BDDS5gBY8keJsaMCgoHk-q0VJQ6zxCOJBh86rzQaO0K8/s1600/2016-04-29+23.29.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTNjoIqL4k7KUB0F-2yf5S1U1ZlaUmx5bJF5hMEf5neImmGrA2x9RZKR7i5u5QRw_DRl9nvRD6hfZ_d4Egnju2Ly7y1Om79J8BDDS5gBY8keJsaMCgoHk-q0VJQ6zxCOJBh86rzQaO0K8/s640/2016-04-29+23.29.58.jpg" width="640" /></a></div>
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I cut the ACME screws to length, and then turned down the ends to be able to slide into the double bearings, the shaft collar and conical spring for linear preload and constraint, the belt pulleys (for the clamps), and the shaft couplings for the driven axes. On the other end was also a shaft end for the opposite radial bushing. These operations took quite a while, and I got well acquainted with the Makerworks lathe's autofeed features to ensure my final passes were very smooth. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvveCcjODNEn9waQ-g1LTjPsSdUv07eTzBmcy0kYTdvlh5cKkXS3LQ5q3eV1L7k71rbCL-ojbVmbaTOCLr0ybuHaJqfAo0GSswlZWQ6jshVxEWdK52ou4CnCW5R-koz9DwZYnM6lMBbKM/s1600/2016-04-30+14.58.11.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvveCcjODNEn9waQ-g1LTjPsSdUv07eTzBmcy0kYTdvlh5cKkXS3LQ5q3eV1L7k71rbCL-ojbVmbaTOCLr0ybuHaJqfAo0GSswlZWQ6jshVxEWdK52ou4CnCW5R-koz9DwZYnM6lMBbKM/s640/2016-04-30+14.58.11.jpg" width="360" /></a></div>
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To put the leadscrew onto each axis was tricky, because I wanted to eliminate backlash and preload the nuts outward. I threaded one end in, and kept threading until it touched the second nut. Then, I back it off a bit, preloaded both nuts together with a small clamp, and then threaded the acme screw back again through both. After releasing the clamp, play and backlash were eliminated, and the carriage had the same stiffness as the twin preload springs, making this a Type 1 antibacklash mechanism (same stiffness in both directions). This technique for assembly also worked for the other axes. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2zWP5l5TvoJLt6Z4StoTje8Km0lvw1h796so4MGFS6mj8csVEE3MfIg0weusMvA5RFM5CxtrMfQ9QUZfHAANxKMo4RiSIWUZJn_DF1RMSR1L06ZIdmvm9S0C5sDl5j4pfIi0b4BoyqMU/s1600/2016-04-30+14.59.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2zWP5l5TvoJLt6Z4StoTje8Km0lvw1h796so4MGFS6mj8csVEE3MfIg0weusMvA5RFM5CxtrMfQ9QUZfHAANxKMo4RiSIWUZJn_DF1RMSR1L06ZIdmvm9S0C5sDl5j4pfIi0b4BoyqMU/s640/2016-04-30+14.59.01.jpg" width="640" /></a></div>
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Here is the assembled double-bearing block at the driven end of a clamp axis. Note the pair of conical springs between the bushing and the shaft collar. (I decided on two series springs to achieve the preload force I wanted. One spring was too much/not enough force resolution). </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmjVazdYN6MyoPuSbsgRW5CLNmiJicJJeHN6xrgJpEDI3YacKQDS3HSWXX6FnjowoXqF4wjVW4luss6wTv2iurzbnxgVM0k5rGqJHQBFSDCeeb63od8lGN1bovYG0AaA4fL_eTsR0qi9Y/s1600/2016-04-30+15.08.20.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmjVazdYN6MyoPuSbsgRW5CLNmiJicJJeHN6xrgJpEDI3YacKQDS3HSWXX6FnjowoXqF4wjVW4luss6wTv2iurzbnxgVM0k5rGqJHQBFSDCeeb63od8lGN1bovYG0AaA4fL_eTsR0qi9Y/s640/2016-04-30+15.08.20.jpg" width="640" /></a></div>
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And one assembled axis! The linear rails are constrained from translating only by the walls of the end blocks, which are constrained by the overall structure. Lots of stacked components!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZBKzHr55FZaU2HwSzPIKtVr6GnnF-CPxtGS37wvilqn5DhsroJ0CfNTBS72pBNw1M3UOhUo14a1cqu3fLahXTo03wYzXd0zasHJMcwPMKsjgMDfXTVR7pi773fmg2fUfXw3VOckMaB5k/s1600/2016-04-30+15.08.24.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZBKzHr55FZaU2HwSzPIKtVr6GnnF-CPxtGS37wvilqn5DhsroJ0CfNTBS72pBNw1M3UOhUo14a1cqu3fLahXTo03wYzXd0zasHJMcwPMKsjgMDfXTVR7pi773fmg2fUfXw3VOckMaB5k/s640/2016-04-30+15.08.24.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjEnm49d0SBiQu9CZeo65wTQ-KAN-aPIIutfDyzlFfYj4Gav5zwDbVlXQIXNV47dbrAwTLlL0AnE2vAD1yicgCACNKH9qR2bEiXCQb-MV90kEkzer596lfcB_X08VDbSoDumARcA3P-nBM/s1600/2016-04-30+15.16.02.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjEnm49d0SBiQu9CZeo65wTQ-KAN-aPIIutfDyzlFfYj4Gav5zwDbVlXQIXNV47dbrAwTLlL0AnE2vAD1yicgCACNKH9qR2bEiXCQb-MV90kEkzer596lfcB_X08VDbSoDumARcA3P-nBM/s640/2016-04-30+15.16.02.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIVR1iwJq7QnzOjV46ZZnuoGYo4i1ksryuEL-kXso6gcx8No0_JQpAAJ5wotktltRcHZffd7LWUC3q1cq-NBBBctxZnhFL41rlHfLLhhcxsCyztyXar-S4nCjCKZA_zaTEeCVb6-W34SM/s1600/2016-04-30+21.42.12.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIVR1iwJq7QnzOjV46ZZnuoGYo4i1ksryuEL-kXso6gcx8No0_JQpAAJ5wotktltRcHZffd7LWUC3q1cq-NBBBctxZnhFL41rlHfLLhhcxsCyztyXar-S4nCjCKZA_zaTEeCVb6-W34SM/s640/2016-04-30+21.42.12.jpg" width="360" /></a></div>
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Both clamp axes assembled into both halves, with the backplate holding the drive stepper ready to couple to the leader clamp. Note the pulleys connecting the leader clamp to the follower clamp. </div>
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<iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/D01mchGSAJI/0.jpg" src="https://www.youtube.com/embed/D01mchGSAJI?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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At this point, I attached the stepper and wanted to see the axes moving. This video was taken before I figured out how to increase the current limit. This is probably at about 10% current, and you can hear the poor motor beggine for more juice. BUT IT MOVES! MY AXIS IS HAPPY! </div>
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<iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/vmkvq11qSrc/0.jpg" src="https://www.youtube.com/embed/vmkvq11qSrc?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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Testing my settings for motion/revolution, after changing those grbl settings and increasing the current limit! SO EXCITING! </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEioY5cN-m8HoEVTprC4qcuaV481cSbz3dyBXdMAslnFZJIr8yFOXy2C6nLcqh-YcOpxf_TAwBOOR1giSnMqJFjbAxT9v1LnS5CBY01OzZpd3d5h-hAQa7eeSandyjP5bajt10MKYC3XjXA/s1600/2016-04-30+22.45.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEioY5cN-m8HoEVTprC4qcuaV481cSbz3dyBXdMAslnFZJIr8yFOXy2C6nLcqh-YcOpxf_TAwBOOR1giSnMqJFjbAxT9v1LnS5CBY01OzZpd3d5h-hAQa7eeSandyjP5bajt10MKYC3XjXA/s640/2016-04-30+22.45.58.jpg" width="360" /></a></div>
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Now it's time to put the belt between the two! I ordered two belts, one that was JUUUUST undersize, shown here, which is way too short, and one that was oversize. These are what McMaster had on hand. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSgvYQVLxvhjZuJvHWh8z4tqmu9Me5PTjTMeUcl-n2G-iZJt62bmcFdUsbaqzzXcWhG_t91YjSrg1fHjZR-yYMNkaeMwbt6cWKNN-MMQFuXTr61L3Njy_xN8OY51JX5gvqXAR7882RE60/s1600/2016-04-30+22.22.22.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSgvYQVLxvhjZuJvHWh8z4tqmu9Me5PTjTMeUcl-n2G-iZJt62bmcFdUsbaqzzXcWhG_t91YjSrg1fHjZR-yYMNkaeMwbt6cWKNN-MMQFuXTr61L3Njy_xN8OY51JX5gvqXAR7882RE60/s640/2016-04-30+22.22.22.jpg" width="360" /></a></div>
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An idler pulley was made using a pair of flanged bearings and by drilling out the center of a pulley. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkOeZD2W9-pONTYWDTdHobiVXTIxntqRQ-RhS1mc5RYG2Npem1Vs_Nw3MqOSRGGBay4fY_T2t_iOshAYpv3QAN8EcTDS-bC4F6vDV7CwAYLyb4YoRIH3MZewymUyKNHi9hXwneFRBpaBQ/s1600/2016-04-30+22.44.27.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkOeZD2W9-pONTYWDTdHobiVXTIxntqRQ-RhS1mc5RYG2Npem1Vs_Nw3MqOSRGGBay4fY_T2t_iOshAYpv3QAN8EcTDS-bC4F6vDV7CwAYLyb4YoRIH3MZewymUyKNHi9hXwneFRBpaBQ/s640/2016-04-30+22.44.27.jpg" width="360" /></a></div>
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Oh no! My calculations for how long the belt was going to be for the tensioning mechanism were off!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhO3a7YxCGNnAIUlpok6N4EyU19yzv_PEUSf0__kUKCCGQvIggVdYWH1VlXLaiYf6Na3YZQZPPmBiNtxK7t2-08Hrx8JwpT76Gvc9JOuX89zm_9WPwbFyWqUIcm0THDIeR6cIWD8zAWkDs/s1600/2016-04-30+23.25.07.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhO3a7YxCGNnAIUlpok6N4EyU19yzv_PEUSf0__kUKCCGQvIggVdYWH1VlXLaiYf6Na3YZQZPPmBiNtxK7t2-08Hrx8JwpT76Gvc9JOuX89zm_9WPwbFyWqUIcm0THDIeR6cIWD8zAWkDs/s640/2016-04-30+23.25.07.jpg" width="360" /></a></div>
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I ended up drilling a bunch of holes until I found one that was sufficiently far enough to properly tension the belt. This works!</div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/D3TiQE-ha5U/0.jpg" src="https://www.youtube.com/embed/D3TiQE-ha5U?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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Now both axes move! WOW!</div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/f5AhQNbTBH0/0.jpg" src="https://www.youtube.com/embed/f5AhQNbTBH0?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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I put together most of the FASBot at this point, and gave the Arduino an XBee Wireless Adapter shield in order to create a wireless serial bridge between my computer interface and the now-unteathered battery-driven FASBot! I can't believe it worked so easily!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEMJFIQ55uK8vD14arTQaN7fYepk2qewnT2u0ptZEOvGfGc36bn_EvIzRIXsQ-H4EtCJVninsQVNBBVoXkLxw5l9PlrsgS2nagzi29dIwPqfi0fdTbDFPpZHP-0D8mkwj0zFTe366chHQ/s1600/2016-05-01+00.28.24.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEMJFIQ55uK8vD14arTQaN7fYepk2qewnT2u0ptZEOvGfGc36bn_EvIzRIXsQ-H4EtCJVninsQVNBBVoXkLxw5l9PlrsgS2nagzi29dIwPqfi0fdTbDFPpZHP-0D8mkwj0zFTe366chHQ/s640/2016-05-01+00.28.24.jpg" width="640" /></a></div>
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Remember that horrible excuse for a Kinematic Coupling? Well, it works!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGzLNdWDoawDmOvxmquGe4qIXVD7ADxVKb6zSRl7NNvqnbbLXBDr-rc-UKKC4efrjaJzrawl5pr9VCRgraEL1sDZdGBOpYr-PlS2Ry9C3KSn2_lQ0Fcj6rGyIBFsh417QAWXKPNuU8i6g/s1600/2016-05-01+00.28.35.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGzLNdWDoawDmOvxmquGe4qIXVD7ADxVKb6zSRl7NNvqnbbLXBDr-rc-UKKC4efrjaJzrawl5pr9VCRgraEL1sDZdGBOpYr-PlS2Ry9C3KSn2_lQ0Fcj6rGyIBFsh417QAWXKPNuU8i6g/s640/2016-05-01+00.28.35.jpg" width="640" /></a></div>
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Here is the chunk of steel on the FASBot and a couple of rare earth magnets clamped to the center of the three grooves. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEilj9r9baH2u4jbnNP-5UxS-RGDAl3oxNyhXDtrv19dij_eQg44d8y01GU3GESx5O1RXdrjnRMRc7-XehfblX8nC14j90ZpBGbJ8Trb0Q6ZHtgwG6-KCSSm6qVthZcRZmU2txEOxesNSr8/s1600/2016-05-01+00.42.02.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEilj9r9baH2u4jbnNP-5UxS-RGDAl3oxNyhXDtrv19dij_eQg44d8y01GU3GESx5O1RXdrjnRMRc7-XehfblX8nC14j90ZpBGbJ8Trb0Q6ZHtgwG6-KCSSm6qVthZcRZmU2txEOxesNSr8/s640/2016-05-01+00.42.02.jpg" width="640" /></a></div>
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<span style="text-align: justify;">After the FASBot surviving a couple of accidental 3-foot drop tests, I eventually switched to much more powerful Neodymium magnets. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhj5mXkQrLgBqruRUNFdbIBO-1WcDZRHiOc3eUp9XZ5NwR6RQrBTY7h4LjPtKTG6IExZjzfg3g5Buyl1UP4WJxAAMdlCKxFc-A8P-rS8vmxu1radLOBUzQHBHLvjrTyIfPcHRbQs6FVml4/s1600/2016-05-01+00.42.19.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhj5mXkQrLgBqruRUNFdbIBO-1WcDZRHiOc3eUp9XZ5NwR6RQrBTY7h4LjPtKTG6IExZjzfg3g5Buyl1UP4WJxAAMdlCKxFc-A8P-rS8vmxu1radLOBUzQHBHLvjrTyIfPcHRbQs6FVml4/s640/2016-05-01+00.42.19.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlOiyuHH5sTE9PMLZmqHKNyeJhSK7XcLxL7efoyalRisZ6bxTEhQGN3dVGrLRUdDq4ZbiulpPYel_A7JcXNc2sq8WHG4bqlHHXq6c3GBG_P7bhQYusi8OCseO-MgqgKmER5EcM51gaUAc/s1600/2016-05-02+14.48.59.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlOiyuHH5sTE9PMLZmqHKNyeJhSK7XcLxL7efoyalRisZ6bxTEhQGN3dVGrLRUdDq4ZbiulpPYel_A7JcXNc2sq8WHG4bqlHHXq6c3GBG_P7bhQYusi8OCseO-MgqgKmER5EcM51gaUAc/s640/2016-05-02+14.48.59.jpg" width="640" /></a></div>
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I ended up changing the front plates to be one bigger plate in order to increase rigidity as the horizontal axis moved. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRH9UGWhVsDiklsvftIeGL4GfE25UzZvOT2BM7mEgNgXmoyQnHhKaGvaQN4bDmuUuYeDG6XlmS_8XCIadTxPNBg17G72qHbnmYlG0EycxqVoj1NfHhFb0_ha8AFHahc4vsDihqbotPvHI/s1600/2016-05-02+14.49.06.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRH9UGWhVsDiklsvftIeGL4GfE25UzZvOT2BM7mEgNgXmoyQnHhKaGvaQN4bDmuUuYeDG6XlmS_8XCIadTxPNBg17G72qHbnmYlG0EycxqVoj1NfHhFb0_ha8AFHahc4vsDihqbotPvHI/s640/2016-05-02+14.49.06.jpg" width="360" /></a></div>
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Nut Driver Axis pair closeup. </div>
<span style="text-align: center;"> </span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhK4z6OTEax0UH8sa1N1Oa-rt8n_sWVFs5a_nwcF-srAo7jSKhiPsk67YtxP63Ge5tVrr9Z7OYZpqnbgR58l8lIdqIKxn6CCj2nDHL07XuFVX3iZpp8ZRB9RN_dgunFb3vBysqVjhlSKi4/s1600/2016-05-02+14.49.36.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhK4z6OTEax0UH8sa1N1Oa-rt8n_sWVFs5a_nwcF-srAo7jSKhiPsk67YtxP63Ge5tVrr9Z7OYZpqnbgR58l8lIdqIKxn6CCj2nDHL07XuFVX3iZpp8ZRB9RN_dgunFb3vBysqVjhlSKi4/s640/2016-05-02+14.49.36.jpg" width="360" /></a></div>
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Clamp Pair closeup. </div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/8F66ejUsp-4/0.jpg" src="https://www.youtube.com/embed/8F66ejUsp-4?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj57KqShyapitVLEVAsdID3dS7IotPIgXf4NfUZqMHY2A469ZIdfKyBkJFKFuDTspgYxNmA_RLJ1uXGAZq8nD4SDxYIIg9sLXRShhz-nLRcoN64NbL4d2Wz_Q-HPFciMxaGBCS5DB0hKrw/s1600/2016-05-03+17.55.56.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj57KqShyapitVLEVAsdID3dS7IotPIgXf4NfUZqMHY2A469ZIdfKyBkJFKFuDTspgYxNmA_RLJ1uXGAZq8nD4SDxYIIg9sLXRShhz-nLRcoN64NbL4d2Wz_Q-HPFciMxaGBCS5DB0hKrw/s640/2016-05-03+17.55.56.jpg" width="360" /></a></div>
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Look how happy it is! </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmbGiPmf8fgBdwFp7jg2WLKNx9YmdsG8Ek8t25oKi2ooh5k4HE3ZH4ohwCpj4b1hds1Q82sUfOplpKWf7_neEFnduqVs6eKoB11ftIB0DgsnaNiHm6Wh5qYEh-sovJXCe9hq3rI7p_zv8/s1600/2016-05-03+17.55.59.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmbGiPmf8fgBdwFp7jg2WLKNx9YmdsG8Ek8t25oKi2ooh5k4HE3ZH4ohwCpj4b1hds1Q82sUfOplpKWf7_neEFnduqVs6eKoB11ftIB0DgsnaNiHm6Wh5qYEh-sovJXCe9hq3rI7p_zv8/s640/2016-05-03+17.55.59.jpg" width="640" /></a></div>
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Professor Asada seems pleased!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ5ze_7LnbYNRF3OPK3Q2PAWcaKPhA3CNJQLnLXf-Cgs4t41MgPkIv2Nz35RO_xIMs97xfpj57TyOiAiTnOl0zzsDBayBOqCoVRs0xCLA8gUY-98GpQy3VJGiRpt-WIK6yCxpQLqFhyphenhyphen4k/s1600/2016-05-03+17.56.08.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ5ze_7LnbYNRF3OPK3Q2PAWcaKPhA3CNJQLnLXf-Cgs4t41MgPkIv2Nz35RO_xIMs97xfpj57TyOiAiTnOl0zzsDBayBOqCoVRs0xCLA8gUY-98GpQy3VJGiRpt-WIK6yCxpQLqFhyphenhyphen4k/s640/2016-05-03+17.56.08.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJyT_DogwBFbn7NevioXc0Jn3zWR_OofjJTEw0lRegvnqyTr2wYbRk01SXgV6EkkZyBRKyoFm_lFJxkrQ1c1xgzQEUods1JB_InJK3fWT8s6xajN6o1RnRiJTyebphEWNjwgHEzN-O064/s1600/2016-05-03+17.56.19.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJyT_DogwBFbn7NevioXc0Jn3zWR_OofjJTEw0lRegvnqyTr2wYbRk01SXgV6EkkZyBRKyoFm_lFJxkrQ1c1xgzQEUods1JB_InJK3fWT8s6xajN6o1RnRiJTyebphEWNjwgHEzN-O064/s640/2016-05-03+17.56.19.jpg" width="360" /></a></div>
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Here is the Triple Scissor Extender coming by to pick up the FASBot!</div>
<span style="text-align: center;"> </span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_pyn5KxP02JkA89deQaRne8t1QiqQ2rdDJd1FHa66RGPu0KSWlqdAkaHv8APgSlfxdPzzfhB1P-cZyYzq2zJeDnetS6zeSios9KIO65gW_eUFet3RJCw8tvV_WX-X03T1a-6K3iPCcG8/s1600/2016-05-03+18.03.14.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_pyn5KxP02JkA89deQaRne8t1QiqQ2rdDJd1FHa66RGPu0KSWlqdAkaHv8APgSlfxdPzzfhB1P-cZyYzq2zJeDnetS6zeSios9KIO65gW_eUFet3RJCw8tvV_WX-X03T1a-6K3iPCcG8/s640/2016-05-03+18.03.14.jpg" width="360" /></a></div>
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<b><i>"Two Robots: A Story of Trust, Courage and Friendship In A Dungeon Laboratory"</i><br />A Master's Thesis by Daniel J. Gonzalez</b></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0d3e8mceH0dyjfB8JctisKOxceaAYcUeBh_moX-sjLa6rskcebLlBHzl1HXfYrY-Pauqnzas14IK1FedutMObx6OosEb0TtVoZBBNhWf5EIre6t8iHr1yS2-MJEmEaWkKWgrJyWOs4P4/s1600/2016-05-03+18.03.27.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0d3e8mceH0dyjfB8JctisKOxceaAYcUeBh_moX-sjLa6rskcebLlBHzl1HXfYrY-Pauqnzas14IK1FedutMObx6OosEb0TtVoZBBNhWf5EIre6t8iHr1yS2-MJEmEaWkKWgrJyWOs4P4/s640/2016-05-03+18.03.27.jpg" width="360" /></a></div>
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Time to make all of the wiring pretty! I used a drill to twist up the stepper cables. </div>
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You can see the wiring from the spindle and the vertical axis going to a adhesive ziptie holder in the dcenter of a plate under the top plate. Adhesive hook-and-loop fasteners attach the yellow battery to the bottom surface in the electronics box. No shaking components while this thing goes inverted! </div>
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Here at the side, a pair of ziptie holders keep the wiring from the horizontal axis neat. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnwLH-mVktDoShQ3ECrZ0ZwjIEV4jx9GuudfgJ3DCf-_99WnD9ROcfTfwbRNJc1YPe2jtyUSx-RaP8PKY3lE9ro3u-X0MOdxncOpZNQgvVT89DVDplmWxnELbldtHrCQuqaXvhkUsUXXQ/s1600/2016-05-04+03.25.28.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnwLH-mVktDoShQ3ECrZ0ZwjIEV4jx9GuudfgJ3DCf-_99WnD9ROcfTfwbRNJc1YPe2jtyUSx-RaP8PKY3lE9ro3u-X0MOdxncOpZNQgvVT89DVDplmWxnELbldtHrCQuqaXvhkUsUXXQ/s640/2016-05-04+03.25.28.jpg" width="640" /></a></div>
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All excess wiring is then folded up and ziptied to a holder. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIXHx1zSGyDB9_9b5G50ZzX7vS6f9WFRsL0JYg8cZCmE3utbFBo1wsdX8JqfKwl69C_-hFojYYx4TR9pNW6XT6w2GOEXcdPJSSVc9yhWd0O4lYTtnAZVeJy0_YbR0kXeG9cyIvxkI4UTo/s1600/2016-05-04+03.25.43.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIXHx1zSGyDB9_9b5G50ZzX7vS6f9WFRsL0JYg8cZCmE3utbFBo1wsdX8JqfKwl69C_-hFojYYx4TR9pNW6XT6w2GOEXcdPJSSVc9yhWd0O4lYTtnAZVeJy0_YbR0kXeG9cyIvxkI4UTo/s640/2016-05-04+03.25.43.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL1nwtczzFZAZ-fojmTQZmiqGpZp6gsQIjeMFrechkp-RJ2eA1ueBkSvA3EHIKLeNxBZbN2NxuaGQM3x1BmWzz7jD1Hw4nJomXFzkVTSYc8qO_goKo7gROMazinDJTADzknOWjoloQCIE/s1600/2016-05-04+03.26.26.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL1nwtczzFZAZ-fojmTQZmiqGpZp6gsQIjeMFrechkp-RJ2eA1ueBkSvA3EHIKLeNxBZbN2NxuaGQM3x1BmWzz7jD1Hw4nJomXFzkVTSYc8qO_goKo7gROMazinDJTADzknOWjoloQCIE/s640/2016-05-04+03.26.26.jpg" width="640" /></a></div>
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Wiring and electronics area closeup. </div>
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Here is the TSE with FASBot in the lowest position. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEieMoac_g20FbgoL3xQvSoOWyKd4Vvmv9BSzVkrIEPpSJIdSA8NkDqabqIVKPN49w16nRGNzy4WlLHPcvYxoFz9unP033oVIcG_M5lZSaVI3VpIJmXxgoT2YqQaFq1YZ7CeGp7w3Ylck5Q/s1600/2016-05-04+04.02.29.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEieMoac_g20FbgoL3xQvSoOWyKd4Vvmv9BSzVkrIEPpSJIdSA8NkDqabqIVKPN49w16nRGNzy4WlLHPcvYxoFz9unP033oVIcG_M5lZSaVI3VpIJmXxgoT2YqQaFq1YZ7CeGp7w3Ylck5Q/s640/2016-05-04+04.02.29.jpg" width="360" /></a></div>
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After upgrading the magnets, the full-weight FASBot can mount to the TSE without worry of falling!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjE0dRHfHrCnbCaQC5jaXgXFmT_Rn1dvQsUiE5R5zOPtITzb4Rr8miGtmuh0Tm3aXiqetR6gXAkE3EnLenWuKHsuh24RL9sgFb_sdA0ZOQqXd49Injgl2W9sO3_x2ILctM0BGEgmxvzpxg/s1600/2016-05-04+04.07.47.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjE0dRHfHrCnbCaQC5jaXgXFmT_Rn1dvQsUiE5R5zOPtITzb4Rr8miGtmuh0Tm3aXiqetR6gXAkE3EnLenWuKHsuh24RL9sgFb_sdA0ZOQqXd49Injgl2W9sO3_x2ILctM0BGEgmxvzpxg/s640/2016-05-04+04.07.47.jpg" width="640" /></a></div>
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The final kinematic coupling with the nicer magnets. </div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/SdateRoNZtc/0.jpg" src="https://www.youtube.com/embed/SdateRoNZtc?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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And here is the entire demo we showed to Boeing of the TSE and the FASBot working in conjunction! </div>
<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com7tag:blogger.com,1999:blog-9152520942772001273.post-62697376348786343022016-05-09T06:25:00.002-04:002016-05-09T06:25:34.355-04:002.77 PUPDate: Final Design Details, CAD<div class="separator" style="clear: both; text-align: center;">
<span style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="456" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgjythgtSSJxuuw_uRxgYUFEZmIA-ZaUJcxwPgXhyphenhyphenCs6nzJBo-uscjoqWAITgaUdKUlY2UfFRLZ1gtIiPswWEEVnARHv9wqcqm58bWrAOOsotsTIXqS4DZ3zeG9D-sWGBZa5Va1S-QGff4/s640/FASBotRender1.PNG" width="640" /></span></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here's the final CAD! Here are the details of how I got to there!</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPPpzHNvJyVApo6_Ss6w8PnTwH-Cy0ZNPxUT_IbtfUZ-jTW2bswENPUEpxwai54NtfAVlPG8IhodsHpzbn3JeD5UJQuBUpNlgf_D6KCzuj-ureJIygk3P041oss40yiEK0KjsedEW8ilY/s1600/2016-05-09+05.19.43.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPPpzHNvJyVApo6_Ss6w8PnTwH-Cy0ZNPxUT_IbtfUZ-jTW2bswENPUEpxwai54NtfAVlPG8IhodsHpzbn3JeD5UJQuBUpNlgf_D6KCzuj-ureJIygk3P041oss40yiEK0KjsedEW8ilY/s640/2016-05-09+05.19.43.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">I decided to use MDF because it's very quick to lasercut, inexpensive, light to be able to lug around to various shops on campus, and readily available in my lab. I enjoy and have a lot of experience making 3D structures out of 2D components and machining processes. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiTeRMUTCqL6ue5aQO9OBCAcWWp3Qyi8OLQ6i8Rm9WpJgzru1lrVzTsr8_EEYDXDHchYs3_7YmMQeSg9_i03Q1eEBnm9DdtNJRNbw2F0glMrFaZ0qkre6-6HSCOzFbeuqwTLMYlUGkvWc/s1600/2016-05-09+05.19.53.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiTeRMUTCqL6ue5aQO9OBCAcWWp3Qyi8OLQ6i8Rm9WpJgzru1lrVzTsr8_EEYDXDHchYs3_7YmMQeSg9_i03Q1eEBnm9DdtNJRNbw2F0glMrFaZ0qkre6-6HSCOzFbeuqwTLMYlUGkvWc/s640/2016-05-09+05.19.53.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here, I design the main clamping structural area to handle the clamping forces. I cut it up into 90-degree chunks and modeled each beam as a rectangular channel. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhwoBPq5BNOfNS0xkQBMoFiF4_lmlcbs9LU0EXZzJ3GT7X3T_J9c04tRXEEMkXJDjKdU5gfk_g8NA6k6lyOKkH4UDTO9YL4-Mxt8uvX8anu9AaySqf_tZaXhyIM2zNs-bEAc82Vam4fpoo/s1600/sidePlate.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="396" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhwoBPq5BNOfNS0xkQBMoFiF4_lmlcbs9LU0EXZzJ3GT7X3T_J9c04tRXEEMkXJDjKdU5gfk_g8NA6k6lyOKkH4UDTO9YL4-Mxt8uvX8anu9AaySqf_tZaXhyIM2zNs-bEAc82Vam4fpoo/s640/sidePlate.PNG" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">And this is the final side plate. There are four of these in total. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHiJxPQUCXTCGV273o4SJH8yNiVuKj_SXrnmk4C8a3BF84kZZu8Ulm-i30LUFK0j_Ak7xYDbfgoe0bWJ6T08mgsjq42hNsVC373rU88b7A3loEQn7AtpjIZxmixZhmywJx1jSCVMt7r8U/s1600/2016-05-09+05.19.59.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHiJxPQUCXTCGV273o4SJH8yNiVuKj_SXrnmk4C8a3BF84kZZu8Ulm-i30LUFK0j_Ak7xYDbfgoe0bWJ6T08mgsjq42hNsVC373rU88b7A3loEQn7AtpjIZxmixZhmywJx1jSCVMt7r8U/s640/2016-05-09+05.19.59.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here I begin dimensioning the linear slide axes for the components I can find readily online based on the calculations and decision I made in the last PUPS. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkTYAkp_OCjov0XvUtq-Id-9d2pAXg_EbOwsulOncXWyF2xyEnk3lZdr5Su32XQQccn0DuWEjkbb2UPEE36pD9K3_8fYMh6ockkChDk03ywD-I9BqV7SZbVZeMQv7q2v-dUuQMgA389BM/s1600/2016-05-09+05.20.14.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkTYAkp_OCjov0XvUtq-Id-9d2pAXg_EbOwsulOncXWyF2xyEnk3lZdr5Su32XQQccn0DuWEjkbb2UPEE36pD9K3_8fYMh6ockkChDk03ywD-I9BqV7SZbVZeMQv7q2v-dUuQMgA389BM/s640/2016-05-09+05.20.14.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here I consider the moment about the tool axis from tool crash forces. Because angular compliance isn't an issue here, (it is in fact desired to handle the possible +-5deg misalignment that may occur from the fastening operation), I designed these axes to handle the stress, but not be very stiff. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNfdvGgIkKZrLWwrmMZoXw1t-v1hx9bj389EuQhQeuWyevBct0cI4K38aotPLFhvVojfeRhaStOWU3lJdwwJuL1e8i6mwkXvxJKAJn8vLW0dBIRbpgQeJ043LnVcvGGusMQS0s78ARnQE/s1600/AngleRender.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNfdvGgIkKZrLWwrmMZoXw1t-v1hx9bj389EuQhQeuWyevBct0cI4K38aotPLFhvVojfeRhaStOWU3lJdwwJuL1e8i6mwkXvxJKAJn8vLW0dBIRbpgQeJ043LnVcvGGusMQS0s78ARnQE/s640/AngleRender.PNG" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">And here are the twin axes, shown with the front plate removed. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCV8lqWzSAV5d8OCEbcuhy-oH33jBf5r5i1bV9pnTcRIIWH-LMwL8kS_o6zFaS2z6UGHI6hbSqsy2nLqGOZacN0ovsm16vOj9jF-i77n3V9NCvIMNKjtPrhjQMCkW6jl57cqp79oIeBkQ/s1600/2016-05-09+05.20.24.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCV8lqWzSAV5d8OCEbcuhy-oH33jBf5r5i1bV9pnTcRIIWH-LMwL8kS_o6zFaS2z6UGHI6hbSqsy2nLqGOZacN0ovsm16vOj9jF-i77n3V9NCvIMNKjtPrhjQMCkW6jl57cqp79oIeBkQ/s640/2016-05-09+05.20.24.jpg" width="360" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdbiKWD1dHiFWclw0sP9S7Mq9lq54VfBaslpMq6Wd1LQtnZj2abvcvKkQf5zAy0Rd_50J-UcTA4VYaQ0UVuJWoMvIB0HfLqwzs9LwRuSJptV0BD-9wdHcCps0loMOhI-JUthK-LQLxTmo/s1600/FASBotFront1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="390" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdbiKWD1dHiFWclw0sP9S7Mq9lq54VfBaslpMq6Wd1LQtnZj2abvcvKkQf5zAy0Rd_50J-UcTA4VYaQ0UVuJWoMvIB0HfLqwzs9LwRuSJptV0BD-9wdHcCps0loMOhI-JUthK-LQLxTmo/s640/FASBotFront1.PNG" width="640" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh00CcnSls7G6N5Bw36r7k4N8FbvN9LwXeDXDQv1gtY-Ox019lq4SGHSkU9IOJqXSjrv1SOl5aFGBx3ThY3dD3gr8Q4VtKiVdlQ0MUt3qEZ9I58D-xnJ32BJJJgB6OtgWs2N4W4-HaYwcM/s1600/FASBotFront2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="428" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh00CcnSls7G6N5Bw36r7k4N8FbvN9LwXeDXDQv1gtY-Ox019lq4SGHSkU9IOJqXSjrv1SOl5aFGBx3ThY3dD3gr8Q4VtKiVdlQ0MUt3qEZ9I58D-xnJ32BJJJgB6OtgWs2N4W4-HaYwcM/s640/FASBotFront2.PNG" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Showing off some linear motion in CAD. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwj9rNo1hciD6lbytdBJ0NFucFJv5arUPeGSNVUM39JC660RHQwvnMVnumwD1wx6FUHvrttmrOUHCvGyGAlqbjJ3XCWjCPoknluRHQwVWvKipReUbzOx8nBKqO5zufZXMvnXY342IhxIg/s1600/2016-05-09+05.20.34.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwj9rNo1hciD6lbytdBJ0NFucFJv5arUPeGSNVUM39JC660RHQwvnMVnumwD1wx6FUHvrttmrOUHCvGyGAlqbjJ3XCWjCPoknluRHQwVWvKipReUbzOx8nBKqO5zufZXMvnXY342IhxIg/s640/2016-05-09+05.20.34.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">It's important to note that both clamps and both axes all have the same linear guide rail and leadscrew architecture, for ease and homogeneity of design and components. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixu4WkiLqJZ8BxdlSxs_AC1a8AecNv2n4q7jONnwo7SPGFLIhQvBNzBNRsVlGwgjB33xmDaTTxmUNhpQcoYthOdO6P4E4cwu8InE5u35JLiFSm0mhJkJ_tzBYYOjslRcwCSHaXX8PIO1I/s1600/Axis2Cutaway.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="276" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixu4WkiLqJZ8BxdlSxs_AC1a8AecNv2n4q7jONnwo7SPGFLIhQvBNzBNRsVlGwgjB33xmDaTTxmUNhpQcoYthOdO6P4E4cwu8InE5u35JLiFSm0mhJkJ_tzBYYOjslRcwCSHaXX8PIO1I/s640/Axis2Cutaway.PNG" width="640" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKIaxR81vMiYCe_87Yp-rncUn42gtOVy-Y1V7SYHonnD69Sf_N-ZAZ_yNC9E5pbJni_iTQf0vfa1KdoOq3W7oWSkdFt7fmsBaQX3kJAZ7ilBFuoAHj3ksnGixi1vsupmixQKvAKiRN-cw/s1600/ClampAxisDetail2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="182" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKIaxR81vMiYCe_87Yp-rncUn42gtOVy-Y1V7SYHonnD69Sf_N-ZAZ_yNC9E5pbJni_iTQf0vfa1KdoOq3W7oWSkdFt7fmsBaQX3kJAZ7ilBFuoAHj3ksnGixi1vsupmixQKvAKiRN-cw/s640/ClampAxisDetail2.PNG" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">A cutaway of the vertical tool axis and of the leader clamp axis (The follower only has a pulley, no shaft coupling or servo). Note the twin bushings on the motor side, which are preloaded by a shaft collar and a conical spring. The other end of the shaft has a single bushing to handle radial loads, but allows for expansion and other linear motion of the leadscrew to prevent overconstraint. The distances between the components is tight, and the stacking of the 6 parts of the carriage presents a risk of overconstraint. To mitigate this, carriages were all assembled while on the guide rails, and the bolts that hold them together were the last to be tightened, ensuring a fit that is smooth and not interfering. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjH9E5iQPLnsvn4tFOConLwCwVKPlyKilHd7y4OSeQptlSwU1gWh-wo_QyrsgYL__Yrh5N-ObS9y3oZSdC3BUge68Qjs-uZREQeqIosYu3QJD7PeO9rpJreNR9o6LNJ-6e8g4F4R12PiQE/s1600/2016-05-09+05.20.48.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjH9E5iQPLnsvn4tFOConLwCwVKPlyKilHd7y4OSeQptlSwU1gWh-wo_QyrsgYL__Yrh5N-ObS9y3oZSdC3BUge68Qjs-uZREQeqIosYu3QJD7PeO9rpJreNR9o6LNJ-6e8g4F4R12PiQE/s640/2016-05-09+05.20.48.jpg" width="360" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiv00ky4QELY66uBNj7ujbypQikHxxFPFzAxaZciZbSx_MkFhB5uGOaQLN-Z8tQjXlFvyXhzUVhjk0cQx9DfkYCC1lKPVxpB0KeCWAwEf8DVBpttnlPJXE8q6GmLytX4hyphenhyphenYMSy1qj90Eo8/s1600/2016-05-09+05.20.57.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiv00ky4QELY66uBNj7ujbypQikHxxFPFzAxaZciZbSx_MkFhB5uGOaQLN-Z8tQjXlFvyXhzUVhjk0cQx9DfkYCC1lKPVxpB0KeCWAwEf8DVBpttnlPJXE8q6GmLytX4hyphenhyphenYMSy1qj90Eo8/s640/2016-05-09+05.20.57.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">More details...</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJJ1pl-4MKbqvm4xaPRupneqlhkZhB0BexdD6ssuTkDAczru5XxDOwny4zYwRcmVHmOcE9qcyXsaH5vji_OhWaBPjHK2JFbTzztoeX0zfpKcPiMKBap2nadd5yQQ1jt8WCs7HKz5hAl5k/s1600/ClampAxisDetail1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="190" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJJ1pl-4MKbqvm4xaPRupneqlhkZhB0BexdD6ssuTkDAczru5XxDOwny4zYwRcmVHmOcE9qcyXsaH5vji_OhWaBPjHK2JFbTzztoeX0zfpKcPiMKBap2nadd5yQQ1jt8WCs7HKz5hAl5k/s640/ClampAxisDetail1.PNG" width="640" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZBwtdT1EQAqAk0SkrZsRSMQCX7p_dXQGadhFRlvKZS4Qvg_SIaMtU7X-x9SVZjHFqCNo8cwGk6uYMd8hepUdrGDalkhPL2UR3o9i_mcB8_eMnKOncSmw2N-PtJW9VGqv5RYB7QrufYDE/s1600/FASBotSide2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="462" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZBwtdT1EQAqAk0SkrZsRSMQCX7p_dXQGadhFRlvKZS4Qvg_SIaMtU7X-x9SVZjHFqCNo8cwGk6uYMd8hepUdrGDalkhPL2UR3o9i_mcB8_eMnKOncSmw2N-PtJW9VGqv5RYB7QrufYDE/s640/FASBotSide2.PNG" width="640" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2FjJa-sPrnhYbCYJAM7igpUbbl6drAP7OyB6NzJaiedxViWr47jJQnKHOEjCJjf4lBW1iOBoka9dhPL1kePBdPUGdbJP03PJInfY15dTPy-NWzaeTDEjsk15Orath3P9JsZzJ9XkYeTw/s1600/FASBotSide3.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="464" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2FjJa-sPrnhYbCYJAM7igpUbbl6drAP7OyB6NzJaiedxViWr47jJQnKHOEjCJjf4lBW1iOBoka9dhPL1kePBdPUGdbJP03PJInfY15dTPy-NWzaeTDEjsk15Orath3P9JsZzJ9XkYeTw/s640/FASBotSide3.PNG" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Showing off clamp range of motion from a side cutaway view...</span></div>
<span style="font-family: Trebuchet MS, sans-serif;"> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiF5KPW1BWvXAU4nLLZFpmYbMVow5fbdGyYHVKzKg1aMuNeZawqEimCG-iyfXEBiLXggRFcCiIrkTfumqy5rj2rPRHegWRBxrrqvOpQv7ocPzQTWf8hG6jm0poAWyvIKvcX0g8yc5XVCU0/s1600/FASBotTop2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiF5KPW1BWvXAU4nLLZFpmYbMVow5fbdGyYHVKzKg1aMuNeZawqEimCG-iyfXEBiLXggRFcCiIrkTfumqy5rj2rPRHegWRBxrrqvOpQv7ocPzQTWf8hG6jm0poAWyvIKvcX0g8yc5XVCU0/s640/FASBotTop2.PNG" width="606" /></a></span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjllsUbevePDlQFE-V-nLA9ioomWQgDkRMepEwF4Rp40mCncAkF54OVYFVdQ2ZEpqUEVfRM-dl5UnpPWpgiZsa4gxslAzLV9YT2ZIaAIyA1NfB33o-HalyKtPgQi5Ix6llD7jD5gR7azT8/s1600/FASBotTop3.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjllsUbevePDlQFE-V-nLA9ioomWQgDkRMepEwF4Rp40mCncAkF54OVYFVdQ2ZEpqUEVfRM-dl5UnpPWpgiZsa4gxslAzLV9YT2ZIaAIyA1NfB33o-HalyKtPgQi5Ix6llD7jD5gR7azT8/s640/FASBotTop3.PNG" width="600" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">And a top cutaway view. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtlvW0OLof3Ktu2sol40zPiiS9_cCjq9sb25PeE2D2C2BgyfsGPoniYA0mdn9lV1HAytder-Mz70kyIHrl9Q7I8km6zQn5gnlzfxejci7aLwKUDmf8emVWh0Z9_vD6I0zDFCJs6SdLIxY/s1600/2016-05-09+05.21.26.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtlvW0OLof3Ktu2sol40zPiiS9_cCjq9sb25PeE2D2C2BgyfsGPoniYA0mdn9lV1HAytder-Mz70kyIHrl9Q7I8km6zQn5gnlzfxejci7aLwKUDmf8emVWh0Z9_vD6I0zDFCJs6SdLIxY/s640/2016-05-09+05.21.26.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The specific dimensions of the clamps were designed here to ensure stiffness under gravitational load. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXlS9omxzlqePoZk5rPyFgmrQNkPbaUPdi-T9aeV6vRJBfYyAe84BOhvUNxuJJdQqGaxKYga8dqJzywWmzUCceHXZzz8T472jIQ2Eh_Tu0ShZIx7EpV7Nm9TNnRsHsyZTl0HKK3-LDqys/s1600/FASBotCouplings1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="482" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXlS9omxzlqePoZk5rPyFgmrQNkPbaUPdi-T9aeV6vRJBfYyAe84BOhvUNxuJJdQqGaxKYga8dqJzywWmzUCceHXZzz8T472jIQ2Eh_Tu0ShZIx7EpV7Nm9TNnRsHsyZTl0HKK3-LDqys/s640/FASBotCouplings1.PNG" width="640" /></a></span></div>
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These blue balls (heh) are used to couple 5 DOFs of the FASBot to the airframe. The 6th DOF is constrained by the pair of clamps. </div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiClr1FtSjYut2jCPZhTQyvKbf4_e7n76c2NmjGoeBbVEQGtX_jDLOWepbTesVD8ws6B_C5sxWwBlOk_NwzMm48pBoo7TrXHrbxVz1ilmcUjHCiy_43U4EtrpYmoXcjIHLZaCzZGeKRZ6U/s1600/KCInMockup.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="476" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiClr1FtSjYut2jCPZhTQyvKbf4_e7n76c2NmjGoeBbVEQGtX_jDLOWepbTesVD8ws6B_C5sxWwBlOk_NwzMm48pBoo7TrXHrbxVz1ilmcUjHCiy_43U4EtrpYmoXcjIHLZaCzZGeKRZ6U/s640/KCInMockup.PNG" width="640" /></a></span></div>
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Here, the FASBot is shown in its natural environment... Note the three balls on the top of the FASBot. These will couple kinematically to the Parent Robot (not shown) using a magnet as preload. A hunk of steel will be bolted onto the hole that's in the center of stiffness of the three balls. The clamping force will be stronger than the magnet prleoad force, letting the Parent Robot to simply pull away from the FASBot once it's clamped to the wall. To pick it back up, it couples to the FASBot and the magnet engages with the steel to provide coupling preload. The FASBot then unclamps itself and is then attached to the Parent Robot, which can than remove it and place it at a new location inside the aircraft for further fastener installation. </div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEivIUhbDZZSyMpneIpf8JzT0tAiHeiiybirUZoYEAffA4BuJlff49mWS471suN2WnIF63UCVzBjOrLVLk7rOhs868Yk1RzGUB-ArPur4l-_MexZ_JdPmJ20az6cbU8hHDRMLYpb1wLnplo/s1600/KCInMockupSide.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="546" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEivIUhbDZZSyMpneIpf8JzT0tAiHeiiybirUZoYEAffA4BuJlff49mWS471suN2WnIF63UCVzBjOrLVLk7rOhs868Yk1RzGUB-ArPur4l-_MexZ_JdPmJ20az6cbU8hHDRMLYpb1wLnplo/s640/KCInMockupSide.PNG" width="640" /></a></span></div>
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Side view of the FASBot to Airframe coupling. </div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDUny0iWlEwob8RR8ysSpn5py-zeLsXOmNbGyaeL_c54I8dqwHwzQ3cytgDTTof1MLmNtshyphenhyphenytwHDpfjELm6uKz-OYuigKTXBwS7Q8c492qCOmQbBCGDQII-GiEw2ll5tJQugvYis_bNY/s1600/KCInMockupClose.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="376" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDUny0iWlEwob8RR8ysSpn5py-zeLsXOmNbGyaeL_c54I8dqwHwzQ3cytgDTTof1MLmNtshyphenhyphenytwHDpfjELm6uKz-OYuigKTXBwS7Q8c492qCOmQbBCGDQII-GiEw2ll5tJQugvYis_bNY/s640/KCInMockupClose.PNG" width="640" /></a></span></div>
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A closer look. </div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAkyXDYP0Tye3SwU20cSgqnj9vWRMv2mi5mrRUicDohRkOOzL8VetX0vAiqDhaVePXXDGxnu8FiwqOy9_SYPZNPhQZg_Op5lEei8Xhzfc2v9bkOueDZdW7dJaI2sMmNuegAe85maQJq9I/s1600/KCMockupTool.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="366" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAkyXDYP0Tye3SwU20cSgqnj9vWRMv2mi5mrRUicDohRkOOzL8VetX0vAiqDhaVePXXDGxnu8FiwqOy9_SYPZNPhQZg_Op5lEei8Xhzfc2v9bkOueDZdW7dJaI2sMmNuegAe85maQJq9I/s640/KCMockupTool.PNG" width="640" /></a></span></div>
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The FASBot-Airframe coupling procedure ideally places the nut driver tool right above the first fastener hole of the Shear Tie. The composite Shear Tie will have temporary tack fasteners at all sets of fasteners, and the adjacent set of fasteners will be installed, ensuring that the Shear Tie is held well against the Fuselage Skin despite the loading of the ~3-5lb FASBot. </div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjp5_6WC0rrcRyfEnUX36yWJ_REi1Maw5YKkSPXzKSP_e54GJca5iEVNZamkXNRFQolRUbT9RUzmxJrEHA079aYEh7BIZgyVIrWziXm96y-YeqHR8lsVlXrwPjgMof7sxJorsqYi4wn7so/s1600/KCMockupTool2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjp5_6WC0rrcRyfEnUX36yWJ_REi1Maw5YKkSPXzKSP_e54GJca5iEVNZamkXNRFQolRUbT9RUzmxJrEHA079aYEh7BIZgyVIrWziXm96y-YeqHR8lsVlXrwPjgMof7sxJorsqYi4wn7so/s640/KCMockupTool2.PNG" width="640" /></a></span></div>
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As the tool goes down, it finds its target everytime. No need for heavy and expensive visual sensorheads! </div>
<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com5tag:blogger.com,1999:blog-9152520942772001273.post-54704622376615811412016-05-09T04:39:00.004-04:002016-05-09T04:39:36.148-04:002.77 Seek and Geek #9: Black and Decker Electronic Screwdriver<div class="separator" style="clear: both; text-align: justify;">
So for my FASBot, I decided to use this electric screwdriver with a nut driver attachment to performing my fastening. This is my machine's "spindle", though I've modified it in order to better fit into my machine. First, to reverse-engineer it!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjpY_m6GjK5z_VvwC4TGBWJIcWMIz9Ulu7jgPNlNw8GKy_CUxx-BExN5oH_ULGDF5sW17N1xvJUljMJgo4rfvkreXiiZvgat7AQ-1IPxE9JV11DBNuvajvpnKF1P7wpxNGUev6aLyicyjE/s1600/2016-04-21+13.57.46.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjpY_m6GjK5z_VvwC4TGBWJIcWMIz9Ulu7jgPNlNw8GKy_CUxx-BExN5oH_ULGDF5sW17N1xvJUljMJgo4rfvkreXiiZvgat7AQ-1IPxE9JV11DBNuvajvpnKF1P7wpxNGUev6aLyicyjE/s640/2016-04-21+13.57.46.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEisB1E9Jc9A2LrCxSPLg2BoHru9Wkn3XVMs6J7O882ITb2nR-qIAGbdl_c587SLESO1sathUKj0JEySj8_m28wP6zYvliJNy7JJPcN_nzdVPkDCkP8QIw0ZF2pWDOuV7Ee09ft0l8hr828/s1600/2016-04-20+18.48.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEisB1E9Jc9A2LrCxSPLg2BoHru9Wkn3XVMs6J7O882ITb2nR-qIAGbdl_c587SLESO1sathUKj0JEySj8_m28wP6zYvliJNy7JJPcN_nzdVPkDCkP8QIw0ZF2pWDOuV7Ee09ft0l8hr828/s640/2016-04-20+18.48.01.jpg" width="640" /></a></div>
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The whole thing comes apart in four pieces. One piece, the black one to the left, contains the tool holder and a planetary gearbox. In the middle, an orange housing separates into two halves, which houses the drive motor, a triggering mechanism, and the detachable battery pack. Because my machine will have its own power, I can chuck the batteries, which eliminates the need for about half of the orange housing. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgigrM2z0VxTd7sk3UHtcWX48bwr4gKsBybXsFvDizzkyXp4nWkh1mrP56nJddk3XNEKysd03qkE59dIdlkP7Vwt0YY5n_BYtkZ3NCL_fBvJYVJ1gQoKaaXz-oRJUhrJH7WyjpyXNrRfnA/s1600/2016-04-20+18.48.12.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgigrM2z0VxTd7sk3UHtcWX48bwr4gKsBybXsFvDizzkyXp4nWkh1mrP56nJddk3XNEKysd03qkE59dIdlkP7Vwt0YY5n_BYtkZ3NCL_fBvJYVJ1gQoKaaXz-oRJUhrJH7WyjpyXNrRfnA/s640/2016-04-20+18.48.12.jpg" width="640" /></a></div>
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These pins press into the orange housing sides and force the two halves to mate. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijURCJh-RdIc-pzYShvKwvy-LTPFlpzZ-Qg693s2Q2M_Oy2EWucQJFkWpuerUsfdlaDeyHHOhLHEMa1e3ICGOb39RX5u8ujoinkQDuuXtLd_fUAf6QeEzFIcCXTdI856NdwW-iUZnh434/s1600/2016-04-20+18.48.24.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEijURCJh-RdIc-pzYShvKwvy-LTPFlpzZ-Qg693s2Q2M_Oy2EWucQJFkWpuerUsfdlaDeyHHOhLHEMa1e3ICGOb39RX5u8ujoinkQDuuXtLd_fUAf6QeEzFIcCXTdI856NdwW-iUZnh434/s640/2016-04-20+18.48.24.jpg" width="640" /></a></div>
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A flexure provides the electrical contacts between the battery pack and the trigger mechanism on the rear side of the motor. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAO75HUU3Xg4xI8fX2K07TD4RUapi_fQp1Hs0Z-3o9Fe_O9jUdzZclO8XJ4jZTmAg7H8PcBOfz0BhPYIRVbPZNVKkiz_91totWdryE6MfCSfRu03Zcq-0qCfvIZpL9pPmu-Xm8nKOFr9g/s1600/2016-04-20+18.48.53.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAO75HUU3Xg4xI8fX2K07TD4RUapi_fQp1Hs0Z-3o9Fe_O9jUdzZclO8XJ4jZTmAg7H8PcBOfz0BhPYIRVbPZNVKkiz_91totWdryE6MfCSfRu03Zcq-0qCfvIZpL9pPmu-Xm8nKOFr9g/s640/2016-04-20+18.48.53.jpg" width="640" /></a></div>
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Flexures also keep the battery pack attached to the orange housing. Press both ends in, and the battery pack detaches. Push the battery pack back into the orange housing and it'll click into place. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2TKJdDBNptvg34Ic6S76kF1oIB3A2dkoFHEIQCmmToQCl6n8iIkxeCJudKrHw2dVZjwV2rQ2mpl3Mw8LE0hS7m7YASie4b-S3p7kxoLac8D2IVTqO6PuuLsY1CSlomCukYwMJUes40aU/s1600/2016-04-20+18.49.03.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2TKJdDBNptvg34Ic6S76kF1oIB3A2dkoFHEIQCmmToQCl6n8iIkxeCJudKrHw2dVZjwV2rQ2mpl3Mw8LE0hS7m7YASie4b-S3p7kxoLac8D2IVTqO6PuuLsY1CSlomCukYwMJUes40aU/s640/2016-04-20+18.49.03.jpg" width="640" /></a></div>
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The sun gear of the first stage in the planetary geartrain is attached to the motor shaft. You can see plenty of lubrication inside where the plastic gears live. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhmKNI8WPY2tGUKHii9cRL2F6JTyDqGgK4wPHyaydC4yVOJ9id8Hs5ujVd7ME1zmN9mtVyBT7HKyox4hHytOCQPjB5FNYhGB58BrctFhelwHaNvtPQsfMr8KBJzSb5j3y9E2hJZsdXvio8/s1600/2016-04-20+19.00.03.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em; text-align: center;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhmKNI8WPY2tGUKHii9cRL2F6JTyDqGgK4wPHyaydC4yVOJ9id8Hs5ujVd7ME1zmN9mtVyBT7HKyox4hHytOCQPjB5FNYhGB58BrctFhelwHaNvtPQsfMr8KBJzSb5j3y9E2hJZsdXvio8/s640/2016-04-20+19.00.03.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWfCtH4z9U1jwOX9si7OwLSJm1r52VrnNwafowWUZa2wHXRFf7O7er4zvB2UDdyQsTz_Q9yUBvKxJuoyR5dirfpItseswep2sAk3fqVX9JX4HjuqtEkOMZwCREl8sdQWP9fE24JklQlYI/s1600/2016-04-20+18.49.37.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWfCtH4z9U1jwOX9si7OwLSJm1r52VrnNwafowWUZa2wHXRFf7O7er4zvB2UDdyQsTz_Q9yUBvKxJuoyR5dirfpItseswep2sAk3fqVX9JX4HjuqtEkOMZwCREl8sdQWP9fE24JklQlYI/s640/2016-04-20+18.49.37.jpg" width="360" /></a></div>
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You can see here the U-shaped pin that passes through two holes that go through the black gear housing and the orange housing, to couple the two together. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTiasZSg0CJhX39ujE1F5InFQygnnO_UFpfOmIdf9l_e6Wqb0MoCobZrv4B0aA9ea6WYxeEb3i-Ng7tWyyc9ByMEQB46j9JgDhIeFW9luR6fD-5HcSzZOCg975Eug8fCv_YQTLTbYhU9A/s1600/2016-04-20+18.55.42.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTiasZSg0CJhX39ujE1F5InFQygnnO_UFpfOmIdf9l_e6Wqb0MoCobZrv4B0aA9ea6WYxeEb3i-Ng7tWyyc9ByMEQB46j9JgDhIeFW9luR6fD-5HcSzZOCg975Eug8fCv_YQTLTbYhU9A/s640/2016-04-20+18.55.42.jpg" width="640" /></a></div>
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This is the trigger mechanism in back of the motor. Push the trigger down, the motor spins one way. Push the trigger up and the motor spins the other. I looked into the mechanism and saw that there are flexural electrical contacts, one power, one ground, that the trigger interchangeably applies to the motor terminals to change the motor spin direction. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIXfNEY0KVngz2Mv14WgCMQsQNYNyCZFGuPs12tUecL14Sa70mh5uoamjW7P87AwJEzdRylqK_uREWDqS-FvwlgsafIoe7a4rD5pGY4wnjfhqrrBdu4sUNt0joJsL3eWletcwosolzDek/s1600/2016-04-20+18.55.53.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIXfNEY0KVngz2Mv14WgCMQsQNYNyCZFGuPs12tUecL14Sa70mh5uoamjW7P87AwJEzdRylqK_uREWDqS-FvwlgsafIoe7a4rD5pGY4wnjfhqrrBdu4sUNt0joJsL3eWletcwosolzDek/s640/2016-04-20+18.55.53.jpg" width="360" /></a></div>
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Very cool! I will design a custom piece that holds the motor and mates with the black gearbox housing. </div>
<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com9tag:blogger.com,1999:blog-9152520942772001273.post-17480618918419422372016-04-24T17:46:00.004-04:002016-04-24T17:46:46.693-04:002.77 Seek and Geek #8: Car Mirror Adjustment Mechanism<div style="text-align: justify;">
<span style="font-family: Trebuchet MS, sans-serif;">So my passenger-side mirror got busted on my car. Upon replacing it ( for only $25.00 on Amazon Prime and 10 minutes to repair), I decided to take it apart for my Seek and Geek! Making the most out of a busted mirror!</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_OYDbb87ipKIKk2maOG8dLZVlW_ocsvuoOgWGIB4UCZhmAdK5iBgKTsGd3NdB3AS0pTHiBB_DKnmVxtoc6GKnSJ1cWgqSxaiAbi7mcJ9eAv9hfL4wP0GwFgK8nn03rSZcvXjjO9zbpuI/s1600/2016-04-23+18.07.18.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_OYDbb87ipKIKk2maOG8dLZVlW_ocsvuoOgWGIB4UCZhmAdK5iBgKTsGd3NdB3AS0pTHiBB_DKnmVxtoc6GKnSJ1cWgqSxaiAbi7mcJ9eAv9hfL4wP0GwFgK8nn03rSZcvXjjO9zbpuI/s640/2016-04-23+18.07.18.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here it is in its temporary-fix Gaff-taped glory. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIfparJz_vmi2qE1Q1bRoLdnkhF3otulqFfJ9s7PJ81ISQE4DKaRBJx_s9bFcafhRkz4L5o51vQPDMiPczRDBnDIsRgDWrKioOsUq-e2-dY0R64iCycDvQJ28w-W1AxFaj8qnr1-4Mb7s/s1600/2016-04-23+18.07.24.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIfparJz_vmi2qE1Q1bRoLdnkhF3otulqFfJ9s7PJ81ISQE4DKaRBJx_s9bFcafhRkz4L5o51vQPDMiPczRDBnDIsRgDWrKioOsUq-e2-dY0R64iCycDvQJ28w-W1AxFaj8qnr1-4Mb7s/s640/2016-04-23+18.07.24.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">I used a chunk of a sheet or mirrored acrylic as a temporary fix so I could legally still drive (and practically still see behind me!). </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Putting the "Why?!" back in DIY (DIWhy?!?!?!)</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhkrAf01rQKLkikuEltdVxWQZMuHaTTvVVWchn4Qaaj2p8oRiMRElgaOHNnJ5PtO4jkUcHZquiV71YMGTpyiCUNAwZKl1AwhqR7BezXYdVO20TCrlyMocyrdZ7r_dsBYzcm506n0swCQPM/s1600/2016-04-23+18.07.51.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhkrAf01rQKLkikuEltdVxWQZMuHaTTvVVWchn4Qaaj2p8oRiMRElgaOHNnJ5PtO4jkUcHZquiV71YMGTpyiCUNAwZKl1AwhqR7BezXYdVO20TCrlyMocyrdZ7r_dsBYzcm506n0swCQPM/s640/2016-04-23+18.07.51.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The whole mirror assembly comes off with three self-tapping screws for plastic. There is a connector with three conductors, presumably for Motor1/Motor2-, Motor1+ and Motor2+. Using these three, you can spin both motors forward and reverse, but only one at a time. Foam gaskets are glued to the inside to dampen noise and catch any water/dust/roadstuff that may make its way in there. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZv3_GeaHyk9gEciKZ9AYekW9HbUYvUrkOKqciwYpEyVTU0LnZP-V1-CjdqJ2yR_XY3Oo_NJl4BPrdSOw2VD6SoKpnvpuH-oWTdrJfbALMTS68YRxIuUJwZn_Pou6XCaKjwuoovzxapO8/s1600/2016-04-23+18.09.20.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZv3_GeaHyk9gEciKZ9AYekW9HbUYvUrkOKqciwYpEyVTU0LnZP-V1-CjdqJ2yR_XY3Oo_NJl4BPrdSOw2VD6SoKpnvpuH-oWTdrJfbALMTS68YRxIuUJwZn_Pou6XCaKjwuoovzxapO8/s640/2016-04-23+18.09.20.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The glass is (was) connected to this inner face. There is a single snap-fit ball joint in the middle, about which the mirror pitches and rolls. Two additional smaller snap-fit ball joints, one on the bottom, and another on the right, are connected internally to the outputs of the motor assembly.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicavSIjBIW3NJRuwU4pLEoJ1_raJVG8IUnWFbMiEgGsMT8m7xU8CAJMZtaUv9JPgSVqQkLbhKVHtbW-W0PAJsFJuFcQHdFRCHMxQ8omZphqM6IL8vFKjTHNtAL7q1z8RmlVyPi5rm0pro/s1600/2016-04-23+18.09.33.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicavSIjBIW3NJRuwU4pLEoJ1_raJVG8IUnWFbMiEgGsMT8m7xU8CAJMZtaUv9JPgSVqQkLbhKVHtbW-W0PAJsFJuFcQHdFRCHMxQ8omZphqM6IL8vFKjTHNtAL7q1z8RmlVyPi5rm0pro/s640/2016-04-23+18.09.33.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">A better view of the middle ball joint, and the two ball-joints that connect to the motor outputs. The balls are at the ends of linear actuators. The motor assembly pushes or pulls the bottom ball of the mirror plate to aim it up or down, and pushed/pulls on the right ball to aim it left-right. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8uJLNaZ5qiupGPRWzPEWKauBSbD3o8pkJ82ESOBbGjM2Wj-9ebSdOIn6wTaHNUYLs598HaxebJvmTGeoQd6KAqdSH8XkRAHRIDH-gSkbMl5qaKrSKPuglRYpSfnVdwks2X_ipLLKAAkM/s1600/2016-04-23+18.09.57.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8uJLNaZ5qiupGPRWzPEWKauBSbD3o8pkJ82ESOBbGjM2Wj-9ebSdOIn6wTaHNUYLs598HaxebJvmTGeoQd6KAqdSH8XkRAHRIDH-gSkbMl5qaKrSKPuglRYpSfnVdwks2X_ipLLKAAkM/s640/2016-04-23+18.09.57.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">A closer view of the motor assembly, with the big middle ball joint which acts as a pivot point for the mirror plate, and the two linear actuators, each with a ball end. Grease is applied liberally as lubricant. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6Jb83mrpWEcewOX7gz7Q1Zg92UIMv1y_pEe9sYnRwEUoj0OmtX2u6YQoGhtKUef6hjkZjutHzIACUkR9VQG42fjyh7AGPocHRh4hW6ACuh_L3wBNgN2gApcP96QbVi9u_4jlOteR4l9g/s1600/2016-04-23+18.11.52.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6Jb83mrpWEcewOX7gz7Q1Zg92UIMv1y_pEe9sYnRwEUoj0OmtX2u6YQoGhtKUef6hjkZjutHzIACUkR9VQG42fjyh7AGPocHRh4hW6ACuh_L3wBNgN2gApcP96QbVi9u_4jlOteR4l9g/s640/2016-04-23+18.11.52.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Upon taking the motor apart, you can see two small motors with identical transmissions that do a few things. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgV2sGNN9sktoHU86wLuykPBjKIEmnmCLau62A_G4-Y-lnadCe54NIrH1nbGpvwsZWDwrdZe28bDUHpTKZtEMZ8mFikkJG2AeoVKXfdPH0HC6pUaJUPFnryrgC9Lf6NUT3b-QQ_bs66w-w/s1600/2016-04-23+18.12.06.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgV2sGNN9sktoHU86wLuykPBjKIEmnmCLau62A_G4-Y-lnadCe54NIrH1nbGpvwsZWDwrdZe28bDUHpTKZtEMZ8mFikkJG2AeoVKXfdPH0HC6pUaJUPFnryrgC9Lf6NUT3b-QQ_bs66w-w/s640/2016-04-23+18.12.06.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">First, a worm drive right out of the motor enables it to apply plenty of torque onto a long idler gear. This idler gear then attaches to the actuator output gear, which is threaded onto a screw. As the long idler gear spins, the big output gear also spins, and the ball output moves up or down along the screw. The idler gear is long enough to continually engage throughout the length of travel. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQKVNwYEoMbco9PBg8OHydhald3yAfQr5BKmjG2WTt32flmLCjk4YrRItgRIEOkTZQUkMUWkbQI_t_VgKKVRXG25KEe-2xYThKDgqYLqAKv-H3WDZlnpSIiJ23gcEryD7D70s7OkdUSt0/s1600/2016-04-23+18.13.38.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQKVNwYEoMbco9PBg8OHydhald3yAfQr5BKmjG2WTt32flmLCjk4YrRItgRIEOkTZQUkMUWkbQI_t_VgKKVRXG25KEe-2xYThKDgqYLqAKv-H3WDZlnpSIiJ23gcEryD7D70s7OkdUSt0/s640/2016-04-23+18.13.38.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">(Idler gear removed). Here is the output threaded down to its lowest point. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8nxBbalKG14Z0ubmkpR2ZJpuRbPnw40lZKf45DWHEjgE2flSI1hGVAvwUJdKdgt46XVQx7pmotAstytx_TxIJe0Qj-zku7yJqZ_G1SyTy8AdPsLl6vi2yWeJo2hx4zCf3JqmfFeaAycs/s1600/2016-04-23+18.14.30.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8nxBbalKG14Z0ubmkpR2ZJpuRbPnw40lZKf45DWHEjgE2flSI1hGVAvwUJdKdgt46XVQx7pmotAstytx_TxIJe0Qj-zku7yJqZ_G1SyTy8AdPsLl6vi2yWeJo2hx4zCf3JqmfFeaAycs/s640/2016-04-23+18.14.30.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">And here is the output stage threaded up to its highest point, about 0.75" of travel. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRcr2cqYFgOsIr-Of_Ifaq4szsNbDtJWS5U6-DJQpM9GLdrck45tUn_KD0D6eXUflqw4stG2kcYaCPx0UCC-0pc9eK3plxZWLs6sLf03_ciYSy_3kPHptFwYWwOc2vJcQWZLfirX_t_G8/s1600/2016-04-23+18.15.20.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRcr2cqYFgOsIr-Of_Ifaq4szsNbDtJWS5U6-DJQpM9GLdrck45tUn_KD0D6eXUflqw4stG2kcYaCPx0UCC-0pc9eK3plxZWLs6sLf03_ciYSy_3kPHptFwYWwOc2vJcQWZLfirX_t_G8/s640/2016-04-23+18.15.20.jpg" width="640" /></a>Here is the plastic screw on which the output shaft spun. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8N3IH1t5VmUeHpGBVyOFouTCVkWq_st4A8B1ufa6CuGpU_8luo58Ts1VX_FRMEbewHEAwEXEvZuNhIyCW26ZvtXT6dgs0cueh4uSSCxvx0qcMK-v9ZIhP2Lann1rilVtw7bdxLFyD5No/s1600/2016-04-23+18.15.37.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8N3IH1t5VmUeHpGBVyOFouTCVkWq_st4A8B1ufa6CuGpU_8luo58Ts1VX_FRMEbewHEAwEXEvZuNhIyCW26ZvtXT6dgs0cueh4uSSCxvx0qcMK-v9ZIhP2Lann1rilVtw7bdxLFyD5No/s640/2016-04-23+18.15.37.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Taking a look underneath the Five Elastically Averaged Flexures used as the leadscrew "nut"! Smart! There are no limit switches or feedback control on the mechanism, so it isn't a servo, just an open loop motor. With these flexures, when the shaft output (the mirror angle) reaches its limit, the flexures move out of the way and it can click down or up along the plastic screw without causing damage to any device. BRILLIANT!</span></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com3tag:blogger.com,1999:blog-9152520942772001273.post-15172918681865430062016-04-19T06:56:00.000-04:002016-04-19T06:58:43.486-04:002.77 PUPS 5678 Pupdate (April 19)<div class="separator" style="clear: both; text-align: center;">
ALL MCM PARTS HAVE BEEN ORDERED! Should Arrive by Wednesday, and I can build the structure around that and test them in time to have the whole machine working by next week. I need to pick up 2 more servos on Wednesday. <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFxy2yRbPGc-3r4O3Te9zL2svlejNVml83KL-NyPyvgURJCjMJkyeKwFioUz6_QqHVlpm1hBp1da2fax7E-fh4mJYfgTTN8SwFvXO3zegi5v-goQPcyfEiDjgFd6Ahk3alcwEhCbUG5Tk/s1600/Order1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="276" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFxy2yRbPGc-3r4O3Te9zL2svlejNVml83KL-NyPyvgURJCjMJkyeKwFioUz6_QqHVlpm1hBp1da2fax7E-fh4mJYfgTTN8SwFvXO3zegi5v-goQPcyfEiDjgFd6Ahk3alcwEhCbUG5Tk/s640/Order1.PNG" width="640" /></a></div>
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And now, for the work that got me to this point:</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJHceLS2CaHSN7w_JLc2sniQFq3zyGnu8Z8brhjkCTnE0ZA2O8rf_mBpuzPPxdUwxj2dS8NJ1d5BrkUAewwFrh2p2VsQj9Jn7iNEziyvo2kqY9DGrpKwtLZEupcjHuJiX92Rnn1YG3kuI/s1600/2016-04-19+06.51.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJHceLS2CaHSN7w_JLc2sniQFq3zyGnu8Z8brhjkCTnE0ZA2O8rf_mBpuzPPxdUwxj2dS8NJ1d5BrkUAewwFrh2p2VsQj9Jn7iNEziyvo2kqY9DGrpKwtLZEupcjHuJiX92Rnn1YG3kuI/s640/2016-04-19+06.51.01.jpg" width="360" /></a></div>
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Part 1 was uploaded on April 18, this is Part 2.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGjgYje-883NUJYbMa2sxmdbzNkFbOy9AIGsKRrN3ueb22oRE_p1GKDWU1NfEzoScUR1Q5EEC90pmut_BJBlg6SAOz3onSgK3msIqau6MrbivZCi7IPJbQZnvzXCJZtVDlfLLZqP94_Hw/s1600/2016-04-19+06.52.08.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGjgYje-883NUJYbMa2sxmdbzNkFbOy9AIGsKRrN3ueb22oRE_p1GKDWU1NfEzoScUR1Q5EEC90pmut_BJBlg6SAOz3onSgK3msIqau6MrbivZCi7IPJbQZnvzXCJZtVDlfLLZqP94_Hw/s640/2016-04-19+06.52.08.jpg" width="360" /></a></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com0tag:blogger.com,1999:blog-9152520942772001273.post-59181371408480724182016-04-18T07:07:00.000-04:002016-04-19T06:59:02.012-04:002.77 April 18 PUPdate 5,6,7,8<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj9_9gF22w5LUK73ryfeWbAOBI7yhaenUZz3ryZWl6BQaKBx0J6g-quf0HBBDgm7RzQRgm6mB2eyyr6mtnJn4OqIcVKMWJZDUuHr8sN4MAFVGiZ9L7DzqHNizrEuF73lgtumJkmlFFzjiI/s1600/2016-04-18+07.10.40.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj9_9gF22w5LUK73ryfeWbAOBI7yhaenUZz3ryZWl6BQaKBx0J6g-quf0HBBDgm7RzQRgm6mB2eyyr6mtnJn4OqIcVKMWJZDUuHr8sN4MAFVGiZ9L7DzqHNizrEuF73lgtumJkmlFFzjiI/s640/2016-04-18+07.10.40.jpg" width="360" /></a></div>
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Gonna place an order VERY soon! I also have plenty of 0.25" MDF stocked, and will be using that lasercut, along with wooden half-balls, for the robot. Benefit to MDF is the ease of lasercutting and its low density. The biggest risk in using MDF is its low stiffness, as it only has a E of 4GPa, but it can probably work with some additional Aluminum parts. Making sure the clamping mechanism doesn't yield the machine will be one of the most important parts of the design moving forward.<br />
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Check out part 2 of this PUPS: <a href="http://yameb.blogspot.com/2016/04/pups-5678-pupdate-april-19.html">http://yameb.blogspot.com/2016/04/pups-5678-pupdate-april-19.html</a>Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-4258709925265604922016-04-05T05:25:00.001-04:002016-04-05T05:26:57.529-04:00Seek and Geek #7: Thinking about the Stiffness Analysis of the Triple Scissor Extender<div class="separator" style="clear: both; text-align: center;">
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Just to show what it is I'm working on. </div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-75986245515511790592016-04-05T05:11:00.003-04:002016-04-05T05:11:51.831-04:002.77 PUPdate <div class="separator" style="clear: both; text-align: center;">
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This pretty much sums it... I have a lot of specific things from past PUPSes to finish before I feel I am actually "done" with them, but the nature of designing this means I'll be touching on these things in an order that makes sense for moving forward. It all needs to be done, but certain decisions make sense to nail down before others. </div>
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<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com7tag:blogger.com,1999:blog-9152520942772001273.post-31114231733837048052016-03-15T00:09:00.000-04:002016-03-15T07:36:04.448-04:002.77 PUPS #5 and #6: Machine Design Detail Exploration (Updated 3/14)<h2 style="text-align: center;">
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PUPS #5 and #6: Machine Design Detail Exploration</span></h2>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-32719874625445329672016-03-13T05:55:00.001-04:002016-03-13T08:00:11.175-04:002.77 Seek and Geek #6:Best of ABC's BattleBots 2015<h2 style="text-align: center;">
Seek and Geek #6: Best of ABC's Battlebots 2015</h2>
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The most recent revival of the Battlebots TV show on ABC was pretty exciting to watch, and this year there are a few teams affiliated with MIT that will be competing in the 2016 season. I'm happy to say I'm helping out a bit with one of those teams, a bot called The Dentist. While most of the design has been done already by the core team members, I've been helping out with some machining and general integration. </div>
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I'd like to take a look at some of the most successful and worst robots from last year's season, analyze what worked, and what didn't. While it's too late for me to make use of these lessons in designing The Dentist (I was roped in after most of the design was done), I think this will be useful for engineering in general, if not for a future battlebot. </div>
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<b><u>Successful Bot: Tombstone (or Last Rites)</u></b></h3>
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Tombstone's Strategy: Have the best weapon, maximize its kinetic energy. </div>
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Defending against Tombstone: be fast to avoid impact, have armor designed to take a direct impact, have enough traction to stay put when hit</div>
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Tombstone (and its previous iteration, Last Rites) is ridiculously powerful. It chews through anything by having as much of the total 250lbs allowed in the bot as possible in the weapon. The more mass the weapon, and the faster it spins, the more kinetic energy it has. The more energy you have, the harder you can hit, and you can brute force your way through any competitor. </div>
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The issue is, however, Tombstone needs to be able to handle its own impacts. If it hits another robot and sends it flying, it may be able to handle the reaction impulse, because the rotor will not stop spinning. In the slow motion video above, you can see it chew through furniture with minimal reaction force (the furniture just melts away). </div>
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If Tombstone hits a wall, however, the rotor has nowhere to go because it cannot push the wall away, and so the robot takes the brunt of the impulse and sends itself flying. The bearings and structure need to be able to deal with this, as well as the electronics within. When Tombstone is successful, however, it is terrifying to watch, like when it went up against Counter-Revolution. </div>
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Speaking of which...</div>
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<span style="font-size: 18.72px; font-weight: bold; text-decoration: underline;">Unsuccessful Bot: Counter-Revolution</span></h3>
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The gist: weak weapons, armor cannot handle impacts, weak drivetrain.</div>
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<iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/Ju5VfqbYUig/0.jpg" src="https://www.youtube.com/embed/Ju5VfqbYUig?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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This sad robot looked pretty cool at first. It had two vertical spinning weapons, but they never even got to do any damage before Tombstone came in and made quick work of the thin aluminum armor. The drivetrain was also not well-designed, as it is unable to provide any traction if the bit is lifted up at all, and is too weak to be able to maneuver and dodge Tombstone. </div>
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<span style="font-size: 18.72px; text-decoration: underline;">Successful Bot: Bite Force</span></h3>
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The gist: RELIABLE. Strong armor, strong drivetrain, re-configurable weapons.</div>
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Bite Force ended up winning the overall competition! It has a beefy frame of either steel or aluminum, which takes a beating and never lets up. I don't think it ever took any actual damage throughout the entire competition. In this video it's up against MIT's Overhaul, and while they have similar designs, reliability is KEY. Bite Force can lift other bots without ever losing traction due to reliable design. Bite Force can take a monstrous beating without ever having a part break because the armor is thick as hell and is well-designed. Bite Force's lifter can be strategically reconfigured depending on the immediate competition to either be a lifter primarily, or a wall of steel with very few appendages. </div>
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<iframe allowfullscreen="" frameborder="0" height="270" src="https://www.youtube.com/embed/xIy_zsO2clA" style="text-align: start;" width="480"></iframe></div>
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Here is the championship fight, and Bite Force was a match for Tombstone because it was the worst thing Tombstone could possibly come up against: a wall of steel. Tombstone is normally relentless because it can chew through most armor it comes up against, but Bite Force has been designed to take a worst-case direct impact from Tombstone without taking any permanent (yield) damage. </div>
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<span style="font-size: 18.72px; text-decoration: underline;">Neutral Bot: Witch Doctor</span></h3>
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The good: Vertical spinner with high kinetic energy: can throw around Tombstone. Nice front armor. </div>
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The bad: Unprotected wheels, no means of self-righting when flipped upside-down. </div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/FIQkZ9flYV8/0.jpg" src="https://www.youtube.com/embed/FIQkZ9flYV8?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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Witch Doctor is pretty cool, because it gave Tombstone a run for its money. It actually broke Tombstone's main weapon! Its compact vertical spinner was effective in throwing around Tombstone like a toy, and the surrounding armor held up quite well against Tombstone. Its cantilevered wheels were right out in the open and unprotected, however, and it was unable to self-right when flipped over, leading to its loss against Tombstone. </div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-72304268419535981432016-03-06T01:00:00.002-05:002016-03-06T01:00:25.875-05:002.77 Seek And Geek #5: Hydraulic Cherry Picker<h2 style="text-align: center;">
<span style="font-family: Trebuchet MS, sans-serif;">Seek And Geek #5: Hydraulic Cherry Picker</span></h2>
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<span style="font-family: Trebuchet MS, sans-serif;"><img src="http://mortonrentals.com/itemimages/732.jpg" /></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The other day I saw a Hydaulic Cherry Picker like the one above parked between Kresge and McCormick which had been used to put the "MIT 100 Years In Cambridge Celebration" posters up on Building 7. <span style="text-align: center;"> </span></span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEij8x34WASkrtVqQV_j0K-CtnUzRys_Kq_mq4RbC11px4fbAm7QimdVs3uEDb52_mUjsUR6AONm9vUuUlZ7u0T3CCwwAfg0N0trdKrN0RXkZo6YRjLJOf4LG1jQIPVCy4CdoAl2Vw_YlAI/s1600/2016-02-21+03.20.03.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEij8x34WASkrtVqQV_j0K-CtnUzRys_Kq_mq4RbC11px4fbAm7QimdVs3uEDb52_mUjsUR6AONm9vUuUlZ7u0T3CCwwAfg0N0trdKrN0RXkZo6YRjLJOf4LG1jQIPVCy4CdoAl2Vw_YlAI/s640/2016-02-21+03.20.03.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The whole thing has a telescopic arm made of square extrusion. I couldn't get a good peek inside of the mechanism it uses to actuate the telescoping mechanism, but considering everything else on this machine is hydraulic (which is good because there is only one power source that is distributed across the whole machine) I bet this is probably actuated hydraulically, with the piston motion amplified in some way through gearing or a linkage. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh0QybucP6lPBYhJMal0cPRQIxA5CEPVLXrNx5esgQhgVRR6AHtuxS1_loy-edt9nxE9nzYmT8edV1ldFUT4kiPtjLc_2nj6EJIHHYy3KYje44vqm5V3gpnO67-yZuoKYXa1KPK738Es2I/s1600/2016-02-21+03.19.51.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh0QybucP6lPBYhJMal0cPRQIxA5CEPVLXrNx5esgQhgVRR6AHtuxS1_loy-edt9nxE9nzYmT8edV1ldFUT4kiPtjLc_2nj6EJIHHYy3KYje44vqm5V3gpnO67-yZuoKYXa1KPK738Es2I/s640/2016-02-21+03.19.51.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Speaking of linkages, the whole thing has a "wrist" that's on a parallelogram 4-bar linkage, so it keeps the basket holding any operators parallel to the ground. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;"> <img src="http://www.admarsupply.com/filehandler.ashx?x=2901" /></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">A workspace analysis found online shows off just how much reach this thing has. The wrist allows fine positioning once the big arm has been extended. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhohhymkenvukQmZWBPdrvRhYpfoxn7fn11l2Zt_dZwLFqA0odg4uO0KLrK9r-7bK6MQIwN6e6txv5MMrMdAvrzZYzxBkTRgc78050nD-SNdHQRszz6XFx9XD6FSXqpBmUgh8qquwI2N1s/s1600/2016-02-21+03.20.17.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhohhymkenvukQmZWBPdrvRhYpfoxn7fn11l2Zt_dZwLFqA0odg4uO0KLrK9r-7bK6MQIwN6e6txv5MMrMdAvrzZYzxBkTRgc78050nD-SNdHQRszz6XFx9XD6FSXqpBmUgh8qquwI2N1s/s640/2016-02-21+03.20.17.jpg" width="360" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The big arm is actuated by a massive hydraulic piston in a 3-bar linkage. The forces it has to exert to hold the arm in place change given the angle of the arm, and the horizontal configuration requires it to bear the highest load. Luckily, static force holding is something inherently free in hydraulic systems!</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfqsRCFIQl2uODolShldSPdv9HIEZcBqhIwfL8gEAH-hV5Md6fAi0aIcvWRhSpA2naREHwb5JkaZX9NnNBrFQCaUNhyqq_7WnE_Zk-PVjdxE1oEziIMtm_SJFY2Z-VqX_4QIvOQKZSY_k/s1600/2016-02-21+03.20.48.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfqsRCFIQl2uODolShldSPdv9HIEZcBqhIwfL8gEAH-hV5Md6fAi0aIcvWRhSpA2naREHwb5JkaZX9NnNBrFQCaUNhyqq_7WnE_Zk-PVjdxE1oEziIMtm_SJFY2Z-VqX_4QIvOQKZSY_k/s640/2016-02-21+03.20.48.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;"> You can see the cable/hose carrier, bringing both electronic cables and hydraulic hoses up the arm to the the pistons located near the basket.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIHz0e6urGmunbstt43Y_RTfZT87ghzzUMRdx_Sajwa-ziXR6mr_dNRXY6VAF9DADVDBj4fmEbbYehjVPXjkHznOjJip4QFk2Z-D5FCEse0X4fx8iWEcocQo-l3mmAoDPN3znLcvO8wL0/s1600/2016-02-21+03.21.01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIHz0e6urGmunbstt43Y_RTfZT87ghzzUMRdx_Sajwa-ziXR6mr_dNRXY6VAF9DADVDBj4fmEbbYehjVPXjkHznOjJip4QFk2Z-D5FCEse0X4fx8iWEcocQo-l3mmAoDPN3znLcvO8wL0/s640/2016-02-21+03.21.01.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The wheels are hydraulic! Both drive and steering are achieved through hydraulic actuators. This thing is really slow when driving, no more than 15MPH, but at least no additional forms of power are needed. The same hydraulic power unit is used to move the arm, the basket, steer, and drive the wheels. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHdCCHC9T8NoLR5j9w2JTKPQURw5RZGj9aJFG0wvsik6938J7xL_u8eVNPsdQB_FbpMjpGkwX2KlTCMAKxwb8r9iilDdkDPGjal0gs5SftLxMjvsjToNvVwq2IFsYWV45ZCdpeAQIX8P8/s1600/2016-02-21+03.21.40.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHdCCHC9T8NoLR5j9w2JTKPQURw5RZGj9aJFG0wvsik6938J7xL_u8eVNPsdQB_FbpMjpGkwX2KlTCMAKxwb8r9iilDdkDPGjal0gs5SftLxMjvsjToNvVwq2IFsYWV45ZCdpeAQIX8P8/s640/2016-02-21+03.21.40.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">There are two pistons that orient the basket! One is coupled to the 4-bar parallelogram linkage, and the other will simply change the angle of the entire basket with respect to the arm. This is probably coupled to the motion of the arm's beefy main piston near its base, so the basket is always oriented horizontally.</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVfKfuxYI5VynST_T3N2z9-d8XVFYM-zKomOi6h2K6ZVllKs1S47XEIVIslvdv0ag4w_iPLqE7gABauKF_FYbz-UDrVEnP6Cufrg_nxiLe9zj69D7miPpaRKSE8JxPGEP3QsMV9aNdxJY/s1600/2016-02-21+03.21.45.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVfKfuxYI5VynST_T3N2z9-d8XVFYM-zKomOi6h2K6ZVllKs1S47XEIVIslvdv0ag4w_iPLqE7gABauKF_FYbz-UDrVEnP6Cufrg_nxiLe9zj69D7miPpaRKSE8JxPGEP3QsMV9aNdxJY/s640/2016-02-21+03.21.45.jpg" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">There also is a left-right rotational joint at the basket's wrist, also hydraulically actuated. </span></div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com1tag:blogger.com,1999:blog-9152520942772001273.post-49427514245169505322016-02-27T14:44:00.001-05:002016-03-04T14:37:23.512-05:002.77 PUPS #4: Kinematic Coupling<h2 style="text-align: center;">
<u>PUPS #4: Kinematic Coupling</u> </h2>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKcmUgA64PAmu-ScI-n8jsT2oBDbzpEczBYL5iJI6F-12Px37rrzNHwgl792yBoVc8qD0mh8Sys8liKEY66rFiDBeRfZ_cL839hyphenhyphenWnE-te-J7okcm6Tb3jKF1IY0q5xj0IbHMKUqhPhuM/s1600/2016-03-04+13.39.41.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjKcmUgA64PAmu-ScI-n8jsT2oBDbzpEczBYL5iJI6F-12Px37rrzNHwgl792yBoVc8qD0mh8Sys8liKEY66rFiDBeRfZ_cL839hyphenhyphenWnE-te-J7okcm6Tb3jKF1IY0q5xj0IbHMKUqhPhuM/s640/2016-03-04+13.39.41.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjgS7ABXmG-SWoqjpps44ALbMZjD1WbzMhBmSTSQmd1fIiTSeYhjP-Gdgeqw3PoElEBHZBZMw5Zgd_00gjQFLYyitaDT7WNYny8XuNgqW7q0vcZu4ZepurU5HOS22HRQl-m7MUbmfsfGQo/s1600/2016-03-04+13.39.50.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjgS7ABXmG-SWoqjpps44ALbMZjD1WbzMhBmSTSQmd1fIiTSeYhjP-Gdgeqw3PoElEBHZBZMw5Zgd_00gjQFLYyitaDT7WNYny8XuNgqW7q0vcZu4ZepurU5HOS22HRQl-m7MUbmfsfGQo/s640/2016-03-04+13.39.50.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTpXPtX5gkS_m8L2p_DEFnVCeSEWb6HeSv5lo23zl3IsZ4kgoeKA92rEJIeW634BoWt5EWfruXYtHF9iY6X6jdiu2oRH6CW-XIvHMKTUVzbjdG8ixTKhtzRD579NgP0iq5TKSC_cxs6Cw/s1600/KC1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="562" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTpXPtX5gkS_m8L2p_DEFnVCeSEWb6HeSv5lo23zl3IsZ4kgoeKA92rEJIeW634BoWt5EWfruXYtHF9iY6X6jdiu2oRH6CW-XIvHMKTUVzbjdG8ixTKhtzRD579NgP0iq5TKSC_cxs6Cw/s640/KC1.PNG" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJMoPLpYR6ONOTyACiY55qQ06ky3DiKmv_ys33XxsdP3c0rgMN9-oQK6hk9x_g_wvRL8adFfDnA67eXmF-nZdP0BxOW02EkizLEGzeAFtKR0MnHCwvYX4D_uwLda5LcxjUospOq1FeE7M/s1600/KC2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="586" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJMoPLpYR6ONOTyACiY55qQ06ky3DiKmv_ys33XxsdP3c0rgMN9-oQK6hk9x_g_wvRL8adFfDnA67eXmF-nZdP0BxOW02EkizLEGzeAFtKR0MnHCwvYX4D_uwLda5LcxjUospOq1FeE7M/s640/KC2.PNG" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHA7slKISudh0gOmEvXpuzzzmrt1Wz1Rxnd8saHxa5vx2wGbBNz90NyVrjAbrCxWRsU9dotgL-KqK_67gaxMwijIU3gOb22jmnV717vqEgNUopsmwzmC-TBV_QbnDrPyLyoXkEjOpnnvk/s1600/KC3.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHA7slKISudh0gOmEvXpuzzzmrt1Wz1Rxnd8saHxa5vx2wGbBNz90NyVrjAbrCxWRsU9dotgL-KqK_67gaxMwijIU3gOb22jmnV717vqEgNUopsmwzmC-TBV_QbnDrPyLyoXkEjOpnnvk/s640/KC3.PNG" width="618" /></a></div>
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Turns out this is a 3D version of my PUPS#2 Planar Coupling. I'm using these projects to test concepts for my final project. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbQihqAGu1A2P5v9j3kI_TI4dkMy7u02t_wIPCnECEjitkSpah2k84rc9zx_Umzrall0vVq09bvjTFlynLn0kpDYJXekkVdGW1NDv0THbUNQjTdxMT_aXy7r3YDATxQYvMGkjp9rkgjZo/s1600/KC4.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="584" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgbQihqAGu1A2P5v9j3kI_TI4dkMy7u02t_wIPCnECEjitkSpah2k84rc9zx_Umzrall0vVq09bvjTFlynLn0kpDYJXekkVdGW1NDv0THbUNQjTdxMT_aXy7r3YDATxQYvMGkjp9rkgjZo/s640/KC4.PNG" width="640" /></a></div>
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ADD SPREADSHEET PREDICTION OF PERFORMANCE: </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsAU4zaSydgni7qiuUcGfwpm7-m0ZhYIbsAJR7Tf_aJXbbBT3dVrppaxmyEZ_1GoYUehkvfbrhNnXpT5E1ObUQ6G2CLgBFK5VWtJ47qS6Nrlib9kzy_XlduqBSRsRBKYqmEALS4oYM3yw/s1600/2016-02-25+18.58.06.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsAU4zaSydgni7qiuUcGfwpm7-m0ZhYIbsAJR7Tf_aJXbbBT3dVrppaxmyEZ_1GoYUehkvfbrhNnXpT5E1ObUQ6G2CLgBFK5VWtJ47qS6Nrlib9kzy_XlduqBSRsRBKYqmEALS4oYM3yw/s640/2016-02-25+18.58.06.jpg" width="640" /></a></div>
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I haven't used a mill in a while, let alone a fly cutter. It's good to smell like machine oil once again!</div>
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There are two pieces of Aluminum stock, one will be the "robot" part, the other the "fuselage". I will make the Fuselage part first, and iterate through concepts for the robot fixturing using the spreadsheet and given the rest of my design work and eventually settle on one. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzziEeAdhfsULV4NUQQAGeP_Jx7OhnHyj9prN5j0W-0z9pvsSZCtsabWphUwozODcvDpKjzwP1JaVr9vrb51yLJ58koWgTYnzgxaxnQ4IDPZbWOAbWR0fFzd4li80tbFX16j2opmpgV60/s1600/2016-02-25+21.24.40.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzziEeAdhfsULV4NUQQAGeP_Jx7OhnHyj9prN5j0W-0z9pvsSZCtsabWphUwozODcvDpKjzwP1JaVr9vrb51yLJ58koWgTYnzgxaxnQ4IDPZbWOAbWR0fFzd4li80tbFX16j2opmpgV60/s640/2016-02-25+21.24.40.jpg" width="640" /></a></div>
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I have founded Chip City!</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh68QEc0GkAU5a-JF-clbMSUGZI0tNPH4Ggjz4Hlg-IHFNT0543imLvMxsCW_6_VZJwQjY_6FPTaA2NcYLY3PMrxyMqpWKxtHgZCYcad77cddD3SfulUvPcC0U8Fq77DZq7PfevGySVc0Q/s1600/2016-03-01+19.46.55.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh68QEc0GkAU5a-JF-clbMSUGZI0tNPH4Ggjz4Hlg-IHFNT0543imLvMxsCW_6_VZJwQjY_6FPTaA2NcYLY3PMrxyMqpWKxtHgZCYcad77cddD3SfulUvPcC0U8Fq77DZq7PfevGySVc0Q/s640/2016-03-01+19.46.55.jpg" width="640" /></a></div>
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I left the 0.25x0.5" shoulder where the 45-degree taper of the "fuselage stringer" will go.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjgsAUx_UYuz5LAAIlSFFPekUeKcOqMgTft_SFli6K_5PIu99YUHASxe_ZyM8BDVpeW8_mds8nB_fNqF1g-owShl7fo32RvweaLjAdcYd0MFsEvII4mjs9ZzkeeYDNJgk3UY9V4lD9xpGg/s1600/2016-03-01+20.15.54.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjgsAUx_UYuz5LAAIlSFFPekUeKcOqMgTft_SFli6K_5PIu99YUHASxe_ZyM8BDVpeW8_mds8nB_fNqF1g-owShl7fo32RvweaLjAdcYd0MFsEvII4mjs9ZzkeeYDNJgk3UY9V4lD9xpGg/s640/2016-03-01+20.15.54.jpg" width="360" /></a></div>
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Chamfer endmill! </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjn9gFTKImdioEGIxTpybYYK2MvuPUMndwHm-iFOoBGzvO30RReiG-xF2P-aIxQA4AW-6IUUcjb9SUOi2191UrTYkZVDABNkddA1Mrz326llrvQ_ae502mljoUhG8opSBXpItP5KAFq4oU/s1600/2016-03-01+20.35.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjn9gFTKImdioEGIxTpybYYK2MvuPUMndwHm-iFOoBGzvO30RReiG-xF2P-aIxQA4AW-6IUUcjb9SUOi2191UrTYkZVDABNkddA1Mrz326llrvQ_ae502mljoUhG8opSBXpItP5KAFq4oU/s640/2016-03-01+20.35.58.jpg" width="640" /></a></div>
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And the finished fuselage section. This was a great exercise in learning the conversational mode on the Makerworks ProtoTrack. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiRqCay13oXQBnV1V5SlmeDgmbP2HFXVzyBQYE8FPvvI4KtSDi9yr_h9Q8qGTHghG8HVSJ6SNtUhHoQcgHziq9FvgFQlLvUgKqhieFxBt1iZTP7oYH2aXrJSJ5zbc-K3ZAgRGHss45C_Q/s1600/3154962356_d0b927ed9c.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="424" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiRqCay13oXQBnV1V5SlmeDgmbP2HFXVzyBQYE8FPvvI4KtSDi9yr_h9Q8qGTHghG8HVSJ6SNtUhHoQcgHziq9FvgFQlLvUgKqhieFxBt1iZTP7oYH2aXrJSJ5zbc-K3ZAgRGHss45C_Q/s640/3154962356_d0b927ed9c.jpg" width="640" /></a></div>
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Here's the real 787 Fuselage for comparison. My Aluminum model is 1:6 scale.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwLgnD_OvDrtTGEHUALv1OQSAd8jqjt9fD4XBxY-fNn8YcPLEVit9leLOA5vj5RRymhNlmD7NDhHtbqd95C-q2f8-yl1GIycAjWgY5INfwWdxLTA26Vo4iakDXC0VdP1WwN_bDLK48MA4/s1600/2016-03-01+17.56.47.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwLgnD_OvDrtTGEHUALv1OQSAd8jqjt9fD4XBxY-fNn8YcPLEVit9leLOA5vj5RRymhNlmD7NDhHtbqd95C-q2f8-yl1GIycAjWgY5INfwWdxLTA26Vo4iakDXC0VdP1WwN_bDLK48MA4/s640/2016-03-01+17.56.47.jpg" width="360" /></a></div>
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(Aside: The waterjet works again! The pressure sensors on this have been dropping like flies. This one is Serial Number 2, one of the oldest, if not THE oldest Omax still existing.)</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgnexQ4pxeuOVbqEO_LToCV1MFyIjIpTMp3pPPE_MaSE0XNXUpz4VSFkHE4KxmX8fDzTanFEWy9CLuSRLW-wFdHnNwLXfAKBxVl8uTQ76ap2fVvl8UV-RADyrazrezGcRpNV0G1Ao5itgQ/s1600/2016-03-02+17.22.53.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgnexQ4pxeuOVbqEO_LToCV1MFyIjIpTMp3pPPE_MaSE0XNXUpz4VSFkHE4KxmX8fDzTanFEWy9CLuSRLW-wFdHnNwLXfAKBxVl8uTQ76ap2fVvl8UV-RADyrazrezGcRpNV0G1Ao5itgQ/s640/2016-03-02+17.22.53.jpg" width="640" /></a></div>
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I have a confession to make: I'm using my lab's 3D printer in order to test various concepts. I suppose my project is different in that the entire machine must kinematically couple with respect to the airframe, perform several operations, and then be moved to the next set of holes along the airframe. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjrYtU45DKQg6IQoDJDnNMLEd4WUOnr2HtbNzTO8w-ljmp7HWQj6hFD9k2vS6BxSpVoPjshAc4qxJBuhd-YostFs2-XTW5ksUq_TviPscIHIzD8XFXhOB0rlV-fLnQj8a6eGjR2KQfL4oI/s1600/2016-03-02+17.22.59.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjrYtU45DKQg6IQoDJDnNMLEd4WUOnr2HtbNzTO8w-ljmp7HWQj6hFD9k2vS6BxSpVoPjshAc4qxJBuhd-YostFs2-XTW5ksUq_TviPscIHIzD8XFXhOB0rlV-fLnQj8a6eGjR2KQfL4oI/s640/2016-03-02+17.22.59.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_YhnmL4LePRJHko4znTjsZlGEIbnpGYXONVAWiOr_BYBQyDCI40SPq289KdxGUM9FKH1HbRtAF265pn0_MLyLYRWUtDSJPnVpIW-HoT_IK9F-lNVRQGEImEkYxxcWQZlcQaB_D-jxoec/s1600/2016-03-02+17.23.31.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_YhnmL4LePRJHko4znTjsZlGEIbnpGYXONVAWiOr_BYBQyDCI40SPq289KdxGUM9FKH1HbRtAF265pn0_MLyLYRWUtDSJPnVpIW-HoT_IK9F-lNVRQGEImEkYxxcWQZlcQaB_D-jxoec/s640/2016-03-02+17.23.31.jpg" width="640" /></a></div>
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This ends up fitting quite well! The hole was for a screw to thread through and clamp the Robot down, but its position was arbitrary in this model. This position is currently unstable and pulls the robot away from its coupling location. When the clamping force is in line with at least one of the Kinematic Coupling contacts, ideally more, the clamp will be more stable. </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRNeV2nXcAOaH2u-ef-UAKNZycX-0NDinSwmbfqiQ4xgFt6vppaWVx3x3rMMdW21k6P4Hweiu13VF-zY8zQgpcwfUMXwivkO5qbNdiITsCQvupM98CidhGFg_Inn3JPEhOjIMrat3yaaY/s1600/2016-03-02+17.23.52.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRNeV2nXcAOaH2u-ef-UAKNZycX-0NDinSwmbfqiQ4xgFt6vppaWVx3x3rMMdW21k6P4Hweiu13VF-zY8zQgpcwfUMXwivkO5qbNdiITsCQvupM98CidhGFg_Inn3JPEhOjIMrat3yaaY/s640/2016-03-02+17.23.52.jpg" width="640" /></a></div>
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The Big Robot will preload the Fastening Robot by applying both forces and torques against the frame, then the robot will clamp itself to the frame, and the Big Bot will let go. The Fastening Robot can then perform its operation, confident that it is localized with respect to the airframe where it must perform fastening operations. </div>
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TODO WHEN ROBOT DESIGN IS FINALIZED:<br />
Test angular repeatability with a laser in a hallway, Test accuracy with a dial indicator mounted on a mill, Use spreadsheet to modify design and modify if needed. </div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-9010604126658346092016-02-27T14:31:00.002-05:002016-02-27T14:44:53.379-05:002.77 Seek and Geek #4: Robot Leg Analysis/Comparison<h2 style="text-align: center;">
<u>Seek and Geek #4: Robot Leg Analysis/Comparison</u></h2>
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<img src="http://robohub.org/wp-content/uploads/2016/02/anyMAL.png" /><br />
<img src="http://abbcloud.blob.core.windows.net/public/images/8181ce27-78ad-4a22-b018-7c358375ab3b/presentation.jpg" /><br />
<img src="http://www.rsl.ethz.ch/robots-media/animal0/_jcr_content/par/slideshow/images/image-5.imageformat.slideshow.767193437.png" /><br />
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<img src="http://www.eurobots.net/files/det_612-IRB-6400-M94A-M96-industrial_robot.jpg" height="640" width="493" /></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCfDeBwK4J2WfNmHl9XJ8Db5ChPql8uKXsyZowp-Uwgg1RTNMx7S0rR2EOKGGvSMDr9qpUipRRvRR5ZmdGKNq5IKInQ4ieEY6W94Vcvzpi_0RIVg0_0CBWPGQh-IaBOHvYz5P9JoKGCBg/s1600/3-Leg2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="345" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCfDeBwK4J2WfNmHl9XJ8Db5ChPql8uKXsyZowp-Uwgg1RTNMx7S0rR2EOKGGvSMDr9qpUipRRvRR5ZmdGKNq5IKInQ4ieEY6W94Vcvzpi_0RIVg0_0CBWPGQh-IaBOHvYz5P9JoKGCBg/s640/3-Leg2.PNG" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjuDbQbQgad7gWXbVgmHBiLTUCltg_83KMuonRVsQZ3ZVD8WDeEWYM1lT-udbRgOWA-rI8eC6SjX-TkmP03empxBf-BzcZy-A5GgXpiXZH8r_-azjoN8pLQMklPf08T1UeuVTOwn5qgRCo/s1600/3-Leg3.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjuDbQbQgad7gWXbVgmHBiLTUCltg_83KMuonRVsQZ3ZVD8WDeEWYM1lT-udbRgOWA-rI8eC6SjX-TkmP03empxBf-BzcZy-A5GgXpiXZH8r_-azjoN8pLQMklPf08T1UeuVTOwn5qgRCo/s1600/3-Leg3.PNG" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjB-3gF1dwzSk9J2Z9pkyYrG-J2VLnn8kOJpqB6LpYN2Qb_eqNUFpzJWmiWjg1_9q3sPTx-Orm62rwmhv8-MiW_zVqZUZlo5Vkm3Ap982XdlTadCxILG9WOTL0Sh6uLqN7BKEc7ayh84HA/s1600/3-Leg.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjB-3gF1dwzSk9J2Z9pkyYrG-J2VLnn8kOJpqB6LpYN2Qb_eqNUFpzJWmiWjg1_9q3sPTx-Orm62rwmhv8-MiW_zVqZUZlo5Vkm3Ap982XdlTadCxILG9WOTL0Sh6uLqN7BKEc7ayh84HA/s1600/3-Leg.PNG" /></a></div>
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<img src="http://biomimetics.mit.edu/sites/default/files/images/2013-08-12-16.01.02-1024x768.jpg" height="480" width="640" /></div>
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<img src="http://biomimetics.mit.edu/sites/default/files/images/smcGrass2.jpg" height="358" width="640" /></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjLMs-Kz6VNYorNVCj1RPVBetIip9Xw6N9qkj9n61mclcvw_ROXJCpMwyIrcyYZFCSi14Vj6e2wnBGuXenC8ZE8NzZkvaYO7J7TNrQ7h0xDuqhjcGmL7M7t26s99lVgS9wdXsB34BNfKTc/s1600/5Leg1.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjLMs-Kz6VNYorNVCj1RPVBetIip9Xw6N9qkj9n61mclcvw_ROXJCpMwyIrcyYZFCSi14Vj6e2wnBGuXenC8ZE8NzZkvaYO7J7TNrQ7h0xDuqhjcGmL7M7t26s99lVgS9wdXsB34BNfKTc/s1600/5Leg1.PNG" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZw6J8xbwDbDXpC9NOOyGAAXJ2B0D_ZxS5IfKEH5fnMFErjo93wd5DX75j6sRdBXLvXwMxFWXvuyiFzt4XAi4FPzA6z5SQY3JO0OLdeCcLKIPoO2NEsx5h3_dSc0ANOFLnY8nKKfHbYe8/s1600/5Leg2.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZw6J8xbwDbDXpC9NOOyGAAXJ2B0D_ZxS5IfKEH5fnMFErjo93wd5DX75j6sRdBXLvXwMxFWXvuyiFzt4XAi4FPzA6z5SQY3JO0OLdeCcLKIPoO2NEsx5h3_dSc0ANOFLnY8nKKfHbYe8/s1600/5Leg2.PNG" /></a></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com0tag:blogger.com,1999:blog-9152520942772001273.post-90162665340655435912016-02-21T02:41:00.000-05:002016-02-23T06:17:51.681-05:002.77 PUPS #3: Machine Design Specification<h2 style="clear: both; text-align: center;">
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PUPS #3: Machine Design Specification</span></h2>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVz3qgAxC9MMzFT3RTVyRUwipgRcDl0Pyx5PPVJzolKLKe7TH6HJdOkwqNjpd50Gqyh_XQrwiWw1P8gCAdkahRjdQ0pfZX-6Y5D0KW08VrDFrX40kajRD-3GsLTKPh5aV57niU7LTIAhg/s1600/2016-02-21+06.08.08.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Verdana, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVz3qgAxC9MMzFT3RTVyRUwipgRcDl0Pyx5PPVJzolKLKe7TH6HJdOkwqNjpd50Gqyh_XQrwiWw1P8gCAdkahRjdQ0pfZX-6Y5D0KW08VrDFrX40kajRD-3GsLTKPh5aV57niU7LTIAhg/s640/2016-02-21+06.08.08.jpg" width="360" /></span></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjt_lxcg6a3Wd2FEItbHOMi68XIIVPDl01TfGXRAerE26rRtHDMGJx84ZH3Hf0kiLSb8B5q6SvCljIwFY-tdD-yo6-0EXc9IwPLqFVX89_8suNEHX-WEC-j24t49Zf9P8RTaObgMG7N4aQ/s1600/2016-02-21+06.08.22.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Verdana, sans-serif;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjt_lxcg6a3Wd2FEItbHOMi68XIIVPDl01TfGXRAerE26rRtHDMGJx84ZH3Hf0kiLSb8B5q6SvCljIwFY-tdD-yo6-0EXc9IwPLqFVX89_8suNEHX-WEC-j24t49Zf9P8RTaObgMG7N4aQ/s640/2016-02-21+06.08.22.jpg" width="360" /></span></a></div>
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<span style="font-family: Verdana, sans-serif;"><u> Error Apportionment for Strategy 1: Robot Motion is X-Axis. </u></span><br />
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<span style="font-family: Verdana, sans-serif;">This seems like a useful tool to think about how errors accumulate, but the choice of values seems really arbitrary. Here, the structure of the aircraft (which we can't change or control) dominates the error, with the robot moving past the most compliant point between each tack fastener</span></div>
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<u><span style="font-family: Verdana, sans-serif;">Error Apportionment for Strategy 2: Stationary Robot with built-in X-axis</span></u><br />
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<span style="font-family: Verdana, sans-serif;">In this case, the bearings and general alignment and initial clamping would dominate the error, the robot would be placed and clamped near the tack fastener by the larger "momma" robot for maximum stiffness, and the structure of all 3 axes would all be controllable.</span></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com6tag:blogger.com,1999:blog-9152520942772001273.post-59613567497533591302016-02-21T02:40:00.000-05:002016-02-21T04:47:46.617-05:002.77 Seek and Geek #3: Hi-Lok Flush Aircraft Fastener<h2 style="clear: both; text-align: center;">
<span style="font-family: "verdana" , sans-serif;"><u>Seek and Geek #3: Hi-Lok Fastener</u></span></h2>
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<img height="300" src="http://adventureswithben.com/wp-content/uploads/2011/06/P6090700.jpg" width="400" /></div>
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<span style="font-family: Trebuchet MS, sans-serif;">My term project for the class involves building a machine whose eventual goal is to install fasteners along the inside of an aircraft (shown above). Thousands of these fasteners connect the big single-piece composite barrel (skin) to the shear ties (latitudinal ribs) that are hoop-shaped L-brackets. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">The holes for each of the thousands of fasteners are drilled, reamed, and countersunk from the outside. The fasteners are then inserted from the OUTSIDE and are perfectly flush with the outside surface of the aircraft, with no features to hold onto. The rest of this job is done on the inside. </span></div>
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The Hi-Lok fastener has a hex socket on the inside, as well as threads on the outside. By adding a nut and tightening it while using a hex key to hold the fastener in place, the fastener can be tightened completely from only the inside, while the outside, with no mating features whatsoever, remains flush for aerodynamics. </div>
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<img src="http://catalog.alcoafastenersandrings.com/Asset/CTL3109A-R.jpg" height="376" width="640" /></div>
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This is the pneumatic fastening tool used to tighten the bolt onto the fastener from the inside. These are handheld, as most of the fastening is currently done by human workers, though the company has been working on making them friendly to mount on robots with air tool controls. </div>
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<img src="http://www.lisi-aerospace.com/products/fasteners/externally-threaded/pin/PublishingImages/HiLok_opt.jpg" /></div>
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One great feature of this system, a way to get precision by design and not by having to torque-control the driver tool, is the frangible collar, or breakaway nut. Once the appropriate fastening torque has been achieved, the nut will separate from the threaded collar to prevent overloading. This is freaking brilliant! When you have a human worker fastening hundreds of these at a time, they get tired or lazy, and it's easy to just beast each one with the air tool until it breaks off when the precise torque has been reached, without needing to actively feel how tight your torque wrench</div>
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So, looks kinda like my whiteboard drawing. It seems the remaining collar has no features, meaning it can't be taken out, so it's semi-permanent. I wonder if they use an epoxy as a threadlocker, or if the breakaway nut permanently deforms in such a way that the collar cannot loosen from vibration. Food for thought. </div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com2tag:blogger.com,1999:blog-9152520942772001273.post-67993817669345606412016-02-13T18:37:00.002-05:002016-02-14T19:34:04.054-05:002.77 PUPS #2: Planar Constraint<h2 style="clear: both; text-align: center;">
PUPS #2: Planar Constraint</h2>
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Peer reviewed with Kate's comments:</div>
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MATLAB Script output. The slope changes as a function of the constraint location. </div>
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<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com3tag:blogger.com,1999:blog-9152520942772001273.post-64013920294494633802016-02-13T18:29:00.003-05:002016-02-21T02:36:38.417-05:002.77 Seek and Geek #2: Branch Cutter<h2 style="clear: both; text-align: center;">
<span style="font-family: "verdana" , sans-serif;"><u>Seek and Geek #2: Branch Cutter</u></span></h2>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgyEQLQzRSAHgp58eEWDiAn30yUwpcbea4WM768GMFRgq46fMUgZbNHMb1rdBUZkcm6LBY5DRtCfq4HfD-4u4R7co9AgVWTxqPoc6KUWRRPzr5FfBTTz5aF6Scefguc_j3QSZWaeDqi_SM/s1600/2016-02-07+15.40.00.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgyEQLQzRSAHgp58eEWDiAn30yUwpcbea4WM768GMFRgq46fMUgZbNHMb1rdBUZkcm6LBY5DRtCfq4HfD-4u4R7co9AgVWTxqPoc6KUWRRPzr5FfBTTz5aF6Scefguc_j3QSZWaeDqi_SM/s640/2016-02-07+15.40.00.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">I found this garden cutter in my living group's backyard and it has a few design features that I find interesting.</span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAj0i36ZUgiJa7qzWe1O17tksc7-cZYQr7T8GelryRwoTU8B3I8Qe7orP7Lv3IiqiIgK3QcnMWXCRCRFGUtLOUrccLAozqBJxybT40mhDfUecCeyTmLNrbqP4k0mEdc8-cMGJonqOj9Wk/s1600/2016-02-07+15.40.10.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAj0i36ZUgiJa7qzWe1O17tksc7-cZYQr7T8GelryRwoTU8B3I8Qe7orP7Lv3IiqiIgK3QcnMWXCRCRFGUtLOUrccLAozqBJxybT40mhDfUecCeyTmLNrbqP4k0mEdc8-cMGJonqOj9Wk/s640/2016-02-07+15.40.10.jpg" width="640" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">It claims it has <b>Power-Lever<span style="background-color: white; color: #545454; font-size: x-small; line-height: 18.2px;">®</span> Technology</b>, and cuts 2X easier. I ask, 2X easier than what, exactly? A normal lever? We'll find out!</span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgHdFf3ofiVvNQsuYM952h1OzLxrTpFNkQvBNe0Hwjz1uRTCKT9jgVUFxSeQi5dNQF4ifvXOvCxL_s8vDXjfPOpobSgt8LMQIdNMlFC_ZseRo3Jvoj_xtBqgz6b6VHCuQbHaQDWyQ37bSM/s1600/2016-02-07+15.40.18.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgHdFf3ofiVvNQsuYM952h1OzLxrTpFNkQvBNe0Hwjz1uRTCKT9jgVUFxSeQi5dNQF4ifvXOvCxL_s8vDXjfPOpobSgt8LMQIdNMlFC_ZseRo3Jvoj_xtBqgz6b6VHCuQbHaQDWyQ37bSM/s400/2016-02-07+15.40.18.jpg" width="400" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">The handles have their own labels to show off their ergonomic design, presumably to catch the eye of the passerby at Home Depot. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjddBYrN3Y87zNYe02PyYSsh93anJceZvG8KHHaDnY9t2TMuRtzuub87vZ9DRRZJaOZs4WOVvibEGOWoU6_U_zp1VkmUCO4WxiIZlWi2frK49Uo3iW3xdfGMSL7iadb3BGxyDALBchqS4c/s1600/2016-02-07+15.42.22.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjddBYrN3Y87zNYe02PyYSsh93anJceZvG8KHHaDnY9t2TMuRtzuub87vZ9DRRZJaOZs4WOVvibEGOWoU6_U_zp1VkmUCO4WxiIZlWi2frK49Uo3iW3xdfGMSL7iadb3BGxyDALBchqS4c/s640/2016-02-07+15.42.22.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">The handles are indeed ergonomic, as the whole thing was comfortable to hold with one hand (My hand was constraining forces and moments and still felt comfortable! )</span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgiBRJKUMXcBHB_s9LMySYetl93cXa5LIdRl3gNuqhvpFo51Rp7B6CV8WNkzezPDdFSYBwqFILys5niKNYGMwJqYv85sINLibnRx_bYYK2fsh5IWqgcVCcnSQAJ3bTKJvrdYLROrXymk5c/s1600/2016-02-07+15.40.28.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgiBRJKUMXcBHB_s9LMySYetl93cXa5LIdRl3gNuqhvpFo51Rp7B6CV8WNkzezPDdFSYBwqFILys5niKNYGMwJqYv85sINLibnRx_bYYK2fsh5IWqgcVCcnSQAJ3bTKJvrdYLROrXymk5c/s400/2016-02-07+15.40.28.jpg" width="400" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">This can cut branches up to 1.75" in diameter. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiT53izQGuZloVBgf8fVpSuphWmkfStoWfLE7oHNQfW_VvmwydrppSQ59oyk99aGUlH4c89A_gGAxHAyH4noqUCU-YsKESgYWcHq5Poc0GOw0ACXtnLpg6FSWC-1BcC5aZJVL0meKOQQAE/s1600/2016-02-07+15.40.37.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiT53izQGuZloVBgf8fVpSuphWmkfStoWfLE7oHNQfW_VvmwydrppSQ59oyk99aGUlH4c89A_gGAxHAyH4noqUCU-YsKESgYWcHq5Poc0GOw0ACXtnLpg6FSWC-1BcC5aZJVL0meKOQQAE/s640/2016-02-07+15.40.37.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">A more detailed look at the mechanism at the end shows off this <b>Power-Lever<span style="background-color: white; color: #545454; font-size: x-small; line-height: 18.2px;">®</span> Technology. </b>There are three linkages in this system: the left handle/right blade, the left blade shown in black, and the right handle. There is a pin joint holding the left blade and the left handle/right blade together, and a pin joint holding the left handle and the right handle together. The left blade and the right handle are connected with a slotted prismatic joint, which I believe is the cause of this <b>2X Easier</b> claim. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgPt6m4llvg7h73Mf_-_4sdsWfc9jnuaPGvbV9aJScjA27WlZgYwL0S65k7Ju8W8n8QlCUc1mFc4AbMVwWZMQrXsKePBCtgQiu6ipHub8hW8J3L4ySd7nablGvubIUpfQC8dTsK9n-lADc/s1600/2016-02-07+15.40.57.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgPt6m4llvg7h73Mf_-_4sdsWfc9jnuaPGvbV9aJScjA27WlZgYwL0S65k7Ju8W8n8QlCUc1mFc4AbMVwWZMQrXsKePBCtgQiu6ipHub8hW8J3L4ySd7nablGvubIUpfQC8dTsK9n-lADc/s400/2016-02-07+15.40.57.jpg" width="400" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">Here is an underside view to get a better look at the slot. This is a planar three-bar linkage, with two pin joints (each allowing 1DOF: rotation) and one prismatic joint (allowing 2DOFs: translation in one dimension, and rotation). This resultant mechanism has only 1-DOF, coupled through all 3 linkages. As the handles close together to cut, the right handle linkage (shown here on the left) pivots about its joint with respect to the left handle/right cutter linkage (shown here on the right). The left cutter (in black) is pulled along for the ride through the slotted pin joint with the right handle, but is able to slide along the pin instead of moving completely.</span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ5ztWpvbX84TuOZUi7M4nKd54xcrq5i1aNA2kfhl7GVoNnz2F5Je5XxL1YqdEHLse55EKaAU7YNxuU85BsqMECoO-FYbXMUVAbl_tvMSdnRw8jMGUh1hhsu-NKRhIG6AcN2CEwh5uPsE/s1600/2016-02-07+15.41.46.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjZ5ztWpvbX84TuOZUi7M4nKd54xcrq5i1aNA2kfhl7GVoNnz2F5Je5XxL1YqdEHLse55EKaAU7YNxuU85BsqMECoO-FYbXMUVAbl_tvMSdnRw8jMGUh1hhsu-NKRhIG6AcN2CEwh5uPsE/s640/2016-02-07+15.41.46.jpg" width="360" /></a></span></div>
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<span style="text-align: justify;"><span style="font-family: "verdana" , sans-serif;">Through this nonlinear motion, mechanical advantage is achieved, and the black left cutter ends up moving about half as fast as the handles do with respect to each other, like gearing. And, like gearing and because power is conserved, this offers about 2X the cutting force as you would have with a regular scissor-type linkage. Cool! </span></span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQzcxB_qvkuYSTe5ZPhl3toKjLbvl8VHyOOxETnobQeIAlGsrnndwb8mImAS68YLdes1yW1Tf9z7hXnkB6OOQVdN3mpzh5TcKCB0__7sCXSVWXXspYQBHQuIPf0vwv96yXJEjy5e1Cxe0/s1600/2016-02-07+15.41.58.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQzcxB_qvkuYSTe5ZPhl3toKjLbvl8VHyOOxETnobQeIAlGsrnndwb8mImAS68YLdes1yW1Tf9z7hXnkB6OOQVdN3mpzh5TcKCB0__7sCXSVWXXspYQBHQuIPf0vwv96yXJEjy5e1Cxe0/s640/2016-02-07+15.41.58.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">In addition to the linage design offering mechanical advantage, the leverage you can get on this thing from the grips is quite large, and the ellipsoidal tubes are quite stiff while beasting this thing against a tree branch. It feels solid and sturdy, even though there is a length of about 18" from your hands to the pin joints. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5-TwejVOB3WPjuv811m5RUllAudI5Y9UKEQ3cHsThAVtC34U7F0slzJ4xn4Gk5CKLk3rIiCC4ooKApFOdQxvCDiFVdNvdaU_ZYxfqF1tBbPJ22Z61B6KAhBMZO-5X7sQ070ewT9C0ito/s1600/2016-02-07+15.42.39.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: "verdana" , sans-serif;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5-TwejVOB3WPjuv811m5RUllAudI5Y9UKEQ3cHsThAVtC34U7F0slzJ4xn4Gk5CKLk3rIiCC4ooKApFOdQxvCDiFVdNvdaU_ZYxfqF1tBbPJ22Z61B6KAhBMZO-5X7sQ070ewT9C0ito/s640/2016-02-07+15.42.39.jpg" width="640" /></span></a></div>
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<span style="font-family: "verdana" , sans-serif;">The pin joints are held down and supposedly preloaded by nylon locknuts. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWGJqyKTjplMtPQV8Wr8LHpbKiBmTjHmZNqrJZHNHgfnrpbjjvDDPhBSF6N8ifWyZIEAjgR5sPKbyKTumhrH3EnFQzLgeoTo6mwwv6bgCPcTTyHFMQpeDuId8YGXVT1ak69GGtFwJTYSk/s1600/2016-02-07+15.42.59.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWGJqyKTjplMtPQV8Wr8LHpbKiBmTjHmZNqrJZHNHgfnrpbjjvDDPhBSF6N8ifWyZIEAjgR5sPKbyKTumhrH3EnFQzLgeoTo6mwwv6bgCPcTTyHFMQpeDuId8YGXVT1ak69GGtFwJTYSk/s640/2016-02-07+15.42.59.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">Here's a closer look at the chopper. The pressure area on the black left cutter is quite small considering the mechanical advantage this tool provides, but steel is used for the blades, which can handle all that force. The branch will be effectively sheared by this cutter. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjN8D9lLFTcnkQqZPte6t-PRyQWFptrd1NCbcuMZ90VksuhwvDECgu1sxDMv-hIp4MntqI3ALy86XOivEx5FoFPv1uVj08dBraUVPs55qpDhPk3jWKevfaVE2GyQI4vu8ISxfGsQ0nGU7M/s1600/2016-02-07+15.43.08.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjN8D9lLFTcnkQqZPte6t-PRyQWFptrd1NCbcuMZ90VksuhwvDECgu1sxDMv-hIp4MntqI3ALy86XOivEx5FoFPv1uVj08dBraUVPs55qpDhPk3jWKevfaVE2GyQI4vu8ISxfGsQ0nGU7M/s640/2016-02-07+15.43.08.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">The other side, the right cutter, does not have a small pressure area, but is flat in order to provide a groove in which the branch can sit as it's being cut. </span></div>
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<span style="font-family: "verdana" , sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmQkp2hL-U_L5ggNnik_srjmD2OEFuWsy1kyC3dImLLHhl1S3Hsq4zIdlp8aBPcOjAxank95S1rHPnWh6sbtesor_-OM1faWqKHdG8WyfdQseDBkfjVbR6zW7CnHCzj1Is_azqyMOHQwg/s1600/2016-02-07+15.43.23.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmQkp2hL-U_L5ggNnik_srjmD2OEFuWsy1kyC3dImLLHhl1S3Hsq4zIdlp8aBPcOjAxank95S1rHPnWh6sbtesor_-OM1faWqKHdG8WyfdQseDBkfjVbR6zW7CnHCzj1Is_azqyMOHQwg/s640/2016-02-07+15.43.23.jpg" width="360" /></a></span></div>
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<span style="font-family: "verdana" , sans-serif;">The difference in pressure area between the black left cutter and the right cutter ensures that only the black cutter is seeing the highest stress, and so if one were to sharpen this tool, only the black one would need TLC. </span></div>
Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com0tag:blogger.com,1999:blog-9152520942772001273.post-48635473541689646742016-02-07T03:04:00.000-05:002016-02-21T02:38:37.880-05:002.77 Seek and Geek #1: Apple Lathe<h2 style="clear: both; text-align: center;">
<span style="font-size: x-large;"><u>Seek and Geek #1: Apple Lathe</u></span></h2>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhff6nFC3f-XSGNSHmP8LLewfAWzjIFYZybPxOjvV6AUoktUNzCDLDj07uKSC6l94MaHDlgCN9ISjj2jv4F0K4zmSc9hc9jwe7sym96tMfZmfFqi543Hlak5FPNcGLvPOobwXveS1YHx10/s1600/20160206_213224.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhff6nFC3f-XSGNSHmP8LLewfAWzjIFYZybPxOjvV6AUoktUNzCDLDj07uKSC6l94MaHDlgCN9ISjj2jv4F0K4zmSc9hc9jwe7sym96tMfZmfFqi543Hlak5FPNcGLvPOobwXveS1YHx10/s640/20160206_213224.jpg" width="640" /></a></div>
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<span style="font-size: large;">I discovered this wonderful tool in my living group's kitchen. It's used to simultaneously peel and core an apple. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiYSGS1F_PwncTh_7mBIK-eFmEv1dY6wXbP_T-qy7pWCf0HqPLe48HEM5XnvLJDgqve4-Wb5ugAooSXQrDprOHrB8bxh0TShCgEiQ-metc7hLH10KuQ25EI-OXlx7oRbrda7GOS61yjbkg/s1600/20160206_213235.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiYSGS1F_PwncTh_7mBIK-eFmEv1dY6wXbP_T-qy7pWCf0HqPLe48HEM5XnvLJDgqve4-Wb5ugAooSXQrDprOHrB8bxh0TShCgEiQ-metc7hLH10KuQ25EI-OXlx7oRbrda7GOS61yjbkg/s640/20160206_213235.jpg" width="640" /></a></div>
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<span style="font-size: large;">The lathe can be attached to any smooth surface using a suction base. By turning the handle, a channel underneath the lathe pulls up and creates negative pressure that keeps it against the surface. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQ33OwUl3JTKKMh7BKuNi4TC8EH3Ytx6ZKdfYpqIB6JyhjDjLzaagIE7FcM9rJ3ijqbPBeYYGiEZHuimf0coqOW3fpP4g9ZG5gqdHsQnozTYnn215p_c_RnmsPywNUufpg4AOEVttXjhE/s1600/20160206_213255.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQ33OwUl3JTKKMh7BKuNi4TC8EH3Ytx6ZKdfYpqIB6JyhjDjLzaagIE7FcM9rJ3ijqbPBeYYGiEZHuimf0coqOW3fpP4g9ZG5gqdHsQnozTYnn215p_c_RnmsPywNUufpg4AOEVttXjhE/s640/20160206_213255.jpg" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicqxRmXRs2R60tDVyOdE3FM288yAU-GfFPklqN-eLWZ6liYkeVqNL4H8tKDZEAOUK79okQh9a18J-3FxB5gymBGvT9pvESHeJ5rWX95Nz8DjpYXeBdA8kffqWJa543qism-VfIjPDZsQA/s1600/20160206_213332.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicqxRmXRs2R60tDVyOdE3FM288yAU-GfFPklqN-eLWZ6liYkeVqNL4H8tKDZEAOUK79okQh9a18J-3FxB5gymBGvT9pvESHeJ5rWX95Nz8DjpYXeBdA8kffqWJa543qism-VfIjPDZsQA/s640/20160206_213332.jpg" width="640" /></a></div>
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<span style="font-size: large;">Here, my girlfriend models the machine in action. The apple is held by three skewers at the end of a screw. The screw is actuated by a handle at the back end. By turning the screw, the apple both spins and moves forward, enabling the spring-loaded cutting tool to peel the apple, and the blade at the far left to remove the core. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQjaDWE45ONnVT2flJfLgt-v5kM_TWx1MWGYmmbxpTNeFqIkW4eV4_nxJ3mgOc_iqC8EEJAKnEBZLcT3f5w6_1llzyTyCVnzXkRoMeYUMMEiuUfFGqEcVnCvcEdfcv6dQHZTvyUUtnoqA/s1600/20160206_213336.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQjaDWE45ONnVT2flJfLgt-v5kM_TWx1MWGYmmbxpTNeFqIkW4eV4_nxJ3mgOc_iqC8EEJAKnEBZLcT3f5w6_1llzyTyCVnzXkRoMeYUMMEiuUfFGqEcVnCvcEdfcv6dQHZTvyUUtnoqA/s640/20160206_213336.jpg" width="640" /></a></div>
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<span style="font-size: large;">This spring-loaded tab disengages the screw and enables it to be pushed back without having to turn. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhsPxRCJWZ-K8jzLX_rp-KwJHR2_kTGTxzdCIqj2vaOCTCzTBD6IpzTt8X2rDqfYsjTPMUU11zoKRMFGdsNAwXVz5LXPyeGMPjrKFcjiZkeKqacRsi-gq93pkT0cHEHK8kRaQNUAfhMFMo/s1600/20160206_213346.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhsPxRCJWZ-K8jzLX_rp-KwJHR2_kTGTxzdCIqj2vaOCTCzTBD6IpzTt8X2rDqfYsjTPMUU11zoKRMFGdsNAwXVz5LXPyeGMPjrKFcjiZkeKqacRsi-gq93pkT0cHEHK8kRaQNUAfhMFMo/s640/20160206_213346.jpg" width="640" /></a></div>
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<span style="font-size: large;">By letting go of the tab, the screw engages and must turn in order to move linearly. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjxRQTdZJ-MIx3xCqVVqYADs8v6X1XqUiTIyIuFKvMv0XvgsPHHztJhmCgm-5TvTfF3I0jhn9TanBfB4Frp4Zt-cN9hmVQfI-aNVwt5gwckrVEkCcdKWZrrecFaBaSt_1cNihsaCzLfvDA/s1600/20160206_213400.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjxRQTdZJ-MIx3xCqVVqYADs8v6X1XqUiTIyIuFKvMv0XvgsPHHztJhmCgm-5TvTfF3I0jhn9TanBfB4Frp4Zt-cN9hmVQfI-aNVwt5gwckrVEkCcdKWZrrecFaBaSt_1cNihsaCzLfvDA/s640/20160206_213400.jpg" width="640" /></a></div>
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<span style="font-size: large;">St. Venant's principle in action! The screw is supported by two linear bearing blocks. The distance between them is equal to at least 3-5 screw diameters! No jamming occurs, the motion is smooth. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgawlaRfFTK409elVt8UglzmTy5VC1N70lXuTrLjsQxt_8YDpGGNS2ArQxerZ4YWSNk4sdnzcdHTigyptC4NdqE9Oazss-m5i8XjQ2zNYc97YJXBPe4PP2eagS3vi57x86Inu4FNFYTftE/s1600/20160206_213413.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgawlaRfFTK409elVt8UglzmTy5VC1N70lXuTrLjsQxt_8YDpGGNS2ArQxerZ4YWSNk4sdnzcdHTigyptC4NdqE9Oazss-m5i8XjQ2zNYc97YJXBPe4PP2eagS3vi57x86Inu4FNFYTftE/s640/20160206_213413.jpg" width="360" /></a></div>
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<span style="font-size: large;">The blade at the end that removes the core also allows the apple flesh (the desired output of this machine) to spiral out in one long piece. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiz08DESgRLKmLtLxcqycp0YsKlHMpGBr23j6Y9qfbkR_DFNrVo0spIaAIEcrNJG8M8ZEATNs_KY7kCjKOK959skRsq6dgxLvjhhOWR16b66ftjioiQ4aOldur8UoZDDG47pDPMRJEJKfQ/s1600/20160206_213545.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiz08DESgRLKmLtLxcqycp0YsKlHMpGBr23j6Y9qfbkR_DFNrVo0spIaAIEcrNJG8M8ZEATNs_KY7kCjKOK959skRsq6dgxLvjhhOWR16b66ftjioiQ4aOldur8UoZDDG47pDPMRJEJKfQ/s640/20160206_213545.jpg" width="360" /></a></div>
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<span style="font-size: large;">The cutting tool for peeling is normally spring-loaded against the apple to apply cutting force. In order to insert the apple, however, it must be positioned out of the way. There is a small tab near the bottom, with an adjustment screw, to block the cutting tool from coming down as you insert the apple. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0BoDnHZygcRDs-QXhZe0dFqQlnc9u560oITNh3tkasOYhtMhjZNvTOALQa-ncg2ta9qfYKluYiJtMp3K8pRGulvXr0P8GwiBKABZ5cM2vhlWmJbntr4j7mReLdRQnMP9HIHW3sh8jd_8/s1600/20160206_213557.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0BoDnHZygcRDs-QXhZe0dFqQlnc9u560oITNh3tkasOYhtMhjZNvTOALQa-ncg2ta9qfYKluYiJtMp3K8pRGulvXr0P8GwiBKABZ5cM2vhlWmJbntr4j7mReLdRQnMP9HIHW3sh8jd_8/s640/20160206_213557.jpg" width="360" /></a></div>
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<span style="font-size: large;">Pushing it aside once the apple is inserted brings the cutting tool to its ready position. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiUmQDgbpanTQK7BekDq_B8d6h4MzaP6fSmvNZG97MIeH_10HwmrI_I6fKGg8YntIw7_U5b2kag7K3AJV0bTfFJen3pqQ3ALwCWZgAbPIGhAfKGMVYTVxeFDLqDwPJBQqDeaT_zwjId2xY/s1600/20160206_213610.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiUmQDgbpanTQK7BekDq_B8d6h4MzaP6fSmvNZG97MIeH_10HwmrI_I6fKGg8YntIw7_U5b2kag7K3AJV0bTfFJen3pqQ3ALwCWZgAbPIGhAfKGMVYTVxeFDLqDwPJBQqDeaT_zwjId2xY/s640/20160206_213610.jpg" width="640" /></a></div>
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<span style="font-size: large;">The cutting begins!</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBkoloMBbe4V1JqqVjn-K8j7YTudLhXuNcJg9e2roqDSmshRmCci45Aanf9oBgGmi5UOG5U7eGk_l4WXWy8tJTlSn9uiz0r_xp986fAD9OlCXh4YENrwb8_Ziod36URkudXYgrc9Fjmvc/s1600/20160206_213634.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBkoloMBbe4V1JqqVjn-K8j7YTudLhXuNcJg9e2roqDSmshRmCci45Aanf9oBgGmi5UOG5U7eGk_l4WXWy8tJTlSn9uiz0r_xp986fAD9OlCXh4YENrwb8_Ziod36URkudXYgrc9Fjmvc/s640/20160206_213634.jpg" width="640" /></a></div>
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<span style="font-size: large;">The pitch of the screw matches the width of the "chips" coming off of the apple peeler. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWzywHXBJYgP55cBw6S0EsxLzadoNdfpvdZg6chu3UUD5i8xuMbpg3-k86MCX9DB1W2keWeMqoifSPdCEL4KRZ5eUK0lMYbNXA4p4tNJ85B-qNiWxci1OhN7BUxmpN6tQIJZi0jrbQj4A/s1600/20160206_213641.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWzywHXBJYgP55cBw6S0EsxLzadoNdfpvdZg6chu3UUD5i8xuMbpg3-k86MCX9DB1W2keWeMqoifSPdCEL4KRZ5eUK0lMYbNXA4p4tNJ85B-qNiWxci1OhN7BUxmpN6tQIJZi0jrbQj4A/s640/20160206_213641.jpg" width="640" /></a></div>
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<span style="font-size: large;">Such lovely chips! The apple begins to pass through the blade that will remove the core and remove the flesh in a spiral. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmOGDBQSAVN6IIURmE2VjwYPzUt-ohRzudOeZpzWnrwDlpTMFA7DO2Gvn8SbWLrShwQj2jW9mCnKLJu0AVBpoG7E-q8TdajwtpJtHL3zG7wvCgx1eUGIbf_YXwNHsQqXF_nMls5WIklEc/s1600/20160206_213648.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmOGDBQSAVN6IIURmE2VjwYPzUt-ohRzudOeZpzWnrwDlpTMFA7DO2Gvn8SbWLrShwQj2jW9mCnKLJu0AVBpoG7E-q8TdajwtpJtHL3zG7wvCgx1eUGIbf_YXwNHsQqXF_nMls5WIklEc/s640/20160206_213648.jpg" width="640" /></a></div>
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<span style="font-size: large;">Nearly done with the operation! The spring-loaded cutting tool compensates for a wide range of apple sizes and diameters by being constantly loaded onto the apple with a spring. Note that proper alignment of the apple on the skewers is vital for removing the core cleanly. This is the only failure mode I've seen, sometimes the apple will be pushed off of its skewers if sufficiently misaligned. The blades seem to be removable for easy replacement or cleaning. </span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEieuZbQRkqmRwd_iYazYHKtqqBLm41PGEN4wltQO61_ko8-H5Jud6fWmzOElxJnPZRURBljsMPrs1cerVHz2-xBb75471i174qKNRn09lgk1g_PdWtRtM6W2IRQz_dtpGp05QMJTUkjK88/s1600/20160206_213715.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEieuZbQRkqmRwd_iYazYHKtqqBLm41PGEN4wltQO61_ko8-H5Jud6fWmzOElxJnPZRURBljsMPrs1cerVHz2-xBb75471i174qKNRn09lgk1g_PdWtRtM6W2IRQz_dtpGp05QMJTUkjK88/s640/20160206_213715.jpg" width="360" /></a></div>
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<span style="font-size: large;">The completed apple spiral! <a href="http://www.justataste.com/apple-fritter-rings-with-caramel-sauce-recipe/">My girlfriend ended up making apple rings with these. </a></span></div>
<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com1tag:blogger.com,1999:blog-9152520942772001273.post-52643728079638456572016-02-07T02:47:00.004-05:002016-02-07T02:53:04.593-05:002.77 PUPS #1<h2 style="clear: both; text-align: center;">
<span style="font-size: x-large;"><u>PUPS #1</u></span></h2>
<div style="text-align: center;">
<span style="font-size: x-large;">(See below for peer-review version.)</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi1QWbw1mfbGr1rskU2RIYFFED4hX-d-NdYHC8h0m2a2gbzujfsvDfuZLmmU4r3zqAvZ2FDnVCU7yupI9UQOLKJyVIaTgFAf5q5EKies11hKaeGiueO4QvFhY8DnIiZa-a3Uocr0fnIOJ0/s1600/20160207_013731.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi1QWbw1mfbGr1rskU2RIYFFED4hX-d-NdYHC8h0m2a2gbzujfsvDfuZLmmU4r3zqAvZ2FDnVCU7yupI9UQOLKJyVIaTgFAf5q5EKies11hKaeGiueO4QvFhY8DnIiZa-a3Uocr0fnIOJ0/s640/20160207_013731.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglMc66Av4XkJeAdwvIedHYONb_Kl11qEZRs8FqKyUOAihFiizMFD8QrvOPnPe6RMt4e45uZaTNFDNEGwELLw7R_Ru5g6Od2Z316STzbiXlzi9I9D6NbQFB8ari7XrxxMr5OQALjfMTSuA/s1600/20160207_013812_001.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglMc66Av4XkJeAdwvIedHYONb_Kl11qEZRs8FqKyUOAihFiizMFD8QrvOPnPe6RMt4e45uZaTNFDNEGwELLw7R_Ru5g6Od2Z316STzbiXlzi9I9D6NbQFB8ari7XrxxMr5OQALjfMTSuA/s640/20160207_013812_001.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjr6QiaCoSqabbXY5SsIkL95bmf2fMPpsLoeh_e8BnnMOZ-k3PyUQNqRbwgSwJPX8p2d9KnWLksI8ZAH6sa8gnKL2w-JkGAAA_JcZ8xy0j5vpReETE72-ltfYz8JhZ04pY56VtKGX3ESwk/s1600/20160207_013830.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjr6QiaCoSqabbXY5SsIkL95bmf2fMPpsLoeh_e8BnnMOZ-k3PyUQNqRbwgSwJPX8p2d9KnWLksI8ZAH6sa8gnKL2w-JkGAAA_JcZ8xy0j5vpReETE72-ltfYz8JhZ04pY56VtKGX3ESwk/s640/20160207_013830.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRbZD53HHFhHRxnt7NX6TxakOZrwVuqlU6v5vwyEAE4kNx1MPbhVmtVagJL7THyMAAr8UZC1viMuXecciY7eHu1kYbPZo-TbhBByg6v0YSkiUO3l20uC8-U5gjHHPFxTtSOCP7TVjRDcE/s1600/20160207_013838_001.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRbZD53HHFhHRxnt7NX6TxakOZrwVuqlU6v5vwyEAE4kNx1MPbhVmtVagJL7THyMAAr8UZC1viMuXecciY7eHu1kYbPZo-TbhBByg6v0YSkiUO3l20uC8-U5gjHHPFxTtSOCP7TVjRDcE/s640/20160207_013838_001.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjkN1WMp0nBVSKMWjr5EraKBI0CZ9yU3vyjucUPKgeQDAF1UXFS21Ev6Cg_4MefSXCL6U2WCV5pVSxXPti8l6CVyMDb0wrZGRhxSEcbC1LGDiUgz_6IJ8RKhOP2YeSxDTeX2bm5CSaGsek/s1600/20160207_013850.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjkN1WMp0nBVSKMWjr5EraKBI0CZ9yU3vyjucUPKgeQDAF1UXFS21Ev6Cg_4MefSXCL6U2WCV5pVSxXPti8l6CVyMDb0wrZGRhxSEcbC1LGDiUgz_6IJ8RKhOP2YeSxDTeX2bm5CSaGsek/s640/20160207_013850.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-PEpNEJbjmKerwk4MJ-Rl2vb3cv1Y9CBuH4NFBWOtONzkDQLNsVMHxttQs6N50f4MugyDDBSdfD7bWH92jd80y_2tt3hHlvUpJSUJgCjk91HfC75s0hsD5x4SFO9Yc1TiCG57ntuLXkE/s1600/20160207_013858.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-PEpNEJbjmKerwk4MJ-Rl2vb3cv1Y9CBuH4NFBWOtONzkDQLNsVMHxttQs6N50f4MugyDDBSdfD7bWH92jd80y_2tt3hHlvUpJSUJgCjk91HfC75s0hsD5x4SFO9Yc1TiCG57ntuLXkE/s640/20160207_013858.jpg" width="360" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj8S2QqxNVKwYeE5ujstpoIq1KK2EosksKn4HUSFvOHn3Mw9bk8C5Iea9AizP9V_dNdZql8FHi5DadS1YrEuhgE0z32Mgqtp7OTVj6tXxxkrP55XA0VfB_5BDRutHLAYLU7sMxO8kSwago/s1600/20160207_013938.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj8S2QqxNVKwYeE5ujstpoIq1KK2EosksKn4HUSFvOHn3Mw9bk8C5Iea9AizP9V_dNdZql8FHi5DadS1YrEuhgE0z32Mgqtp7OTVj6tXxxkrP55XA0VfB_5BDRutHLAYLU7sMxO8kSwago/s640/20160207_013938.jpg" width="360" /></a></div>
<h2 style="text-align: center;">
<u><span style="font-size: x-large;">Peer Reviewed Work</span></u></h2>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiF7sflVsX_b0gRqLJ93xsqZqkZx44iB8M4Tgu2wRhmF15DMgGns9fg6yj9Wly-KC8KdAZdy9g5Wn1uAhgXQzb-rN37pLbWby5IkFAhxceRzFOyEAVc64S0xOg9Upn20FceSBtYJDBt9ZI/s1600/20160207_023535.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiF7sflVsX_b0gRqLJ93xsqZqkZx44iB8M4Tgu2wRhmF15DMgGns9fg6yj9Wly-KC8KdAZdy9g5Wn1uAhgXQzb-rN37pLbWby5IkFAhxceRzFOyEAVc64S0xOg9Upn20FceSBtYJDBt9ZI/s640/20160207_023535.jpg" width="360" /></a></div>
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<br />Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com0tag:blogger.com,1999:blog-9152520942772001273.post-78892051630942319182014-04-20T06:33:00.000-04:002014-04-20T06:34:43.734-04:00MIT MechE deFlorez Competition Entry: Underactuated Robot Gripper<div style="text-align: center;">
<span style="font-family: Trebuchet MS, sans-serif; font-size: large;"><b><i>An Open-Source Low-Cost High-Strength Rapid-Prototypeable
Underactuated Robot Gripper</i></b></span></div>
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<span style="font-family: Trebuchet MS, sans-serif; font-size: large;">by Daniel J. Gonzalez - </span><span style="font-family: 'Trebuchet MS', sans-serif; font-size: large;">dgonz@mit.edu</span></div>
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<span style="font-family: Trebuchet MS, sans-serif; font-size: large;">MIT MechE deFlorez Competition Entry</span></div>
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<span style="font-family: Trebuchet MS, sans-serif; font-size: xx-small;">(Hi, Professor Hover!)</span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh35LLAhYh6P6FnJzo3WzYx2R80tLuh3y2UH2Z-_URL4jDh7TqodO3Csx0mshcOxz9YXCLrUOkiUswhlLF-aEtAMvwRIPjGEyAFFSbSxdL01ye0jD45KWnHZ_u0-1XZ112Cu7zs3E0vBsk/s1600/front.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh35LLAhYh6P6FnJzo3WzYx2R80tLuh3y2UH2Z-_URL4jDh7TqodO3Csx0mshcOxz9YXCLrUOkiUswhlLF-aEtAMvwRIPjGEyAFFSbSxdL01ye0jD45KWnHZ_u0-1XZ112Cu7zs3E0vBsk/s1600/front.png" height="562" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;"> Here is a solid model of my gripper. All of the components can be readily found on McMaster, Trossenrobotics, and other online retailers for under $500.00 total. The parts can be fabricated using only a waterjet, or using online waterjetting services such as bigbluesaw.com. With the solid model released as open-source, just about anyone can put this thing together for use in their robot manipulation project: no expert machining experience required!</span><br />
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<span style="font-family: Trebuchet MS, sans-serif;">The design of this gripper is inspired by the <b>WillowGarage Velo Gripper </b>(Work by Matei Ciocarlie): </span><br />
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<span style="font-family: Trebuchet MS, sans-serif;">and the design optimization work of Prof. Aaron Dollar of Yale and Prof. Robert Howe of Harvard:</span><br />
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<span style="font-family: Trebuchet MS, sans-serif;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/-JSfZMLhX5g?feature=player_embedded' frameborder='0'></iframe></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">(link to paper: http://biorobotics.harvard.edu/pubs/2010/journal/Dollar_IJRR2010.pdf). </span><br />
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<span style="font-family: Trebuchet MS, sans-serif;">The design of the drive mechanism is underactuated. Specifically, one motor drives both fingers, each of which has 3 DOFs. Passive compliance between each DOF allows the finger to envelop any given object that fits within its grasp without having to perform complicated grasp planning calculations in realtime. </span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRD9SdZwXlU2_Oq5cwlgrznaVWsRqp30Sw-47b5bQA03CoCs8pmJuH1JvtQcG5ejOeejtUvagOkmJQwkJ-8PqOyRzTFmO1aIi1Wa2EsVfljAKXuKyn6qvoXDo2nZ1xZVvZ8ewHU5Z_Rk0/s1600/2014-04-20+06.00.34.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><span style="font-family: Trebuchet MS, sans-serif;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRD9SdZwXlU2_Oq5cwlgrznaVWsRqp30Sw-47b5bQA03CoCs8pmJuH1JvtQcG5ejOeejtUvagOkmJQwkJ-8PqOyRzTFmO1aIi1Wa2EsVfljAKXuKyn6qvoXDo2nZ1xZVvZ8ewHU5Z_Rk0/s1600/2014-04-20+06.00.34.jpg" height="480" width="640" /></span></a></div>
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<span style="font-family: Trebuchet MS, sans-serif;">As of this writing, the fabrication process is nearly complete, and it should be 100% functional by the middle of next week (~4/23/2014). An Arduino will receive a grasp command from a host computer (or a button for demonstration) and command the servos to either grasp or let go of an object. The Dynamixel servo is torque-controlled and provides torque feedback, so we can apply the proper amount of pressure for a given object.</span></div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhG_DDYhOfya_5KJyoYIrZVclY6HTjAndZljQjKHBQ0aj2ovpoLegerlDuet_6dRT52BmenE16qQwxda1MNx_Y_VHiYio0Rt492qg_yQjiWBlHjzqN8QcjlMuid41mWp7b6urBYuaTDUYw/s1600/grasping.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhG_DDYhOfya_5KJyoYIrZVclY6HTjAndZljQjKHBQ0aj2ovpoLegerlDuet_6dRT52BmenE16qQwxda1MNx_Y_VHiYio0Rt492qg_yQjiWBlHjzqN8QcjlMuid41mWp7b6urBYuaTDUYw/s1600/grasping.png" height="162" width="640" /></a></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here is an example demonstrating the underactuated closing behavior of the gripper that allows for asymmetric grasps. Using constraint tendons, the gripper acts as a standard parallel gripper until the proximal link encounters resistance. The two distal links then close around the object for a snug grasp. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxC6qL2vEKpzliboOJfI8gusOzCWvqOgMMz-74BLkVO1xYiwwD9dojRYKcWZ8FWE4ExQ6wffdQcbq-GYkahZX09rzbXdXE2ZxW9B7BpI1xNwfben5TXGdMS2-rtryA4g6Y3fpBXQzTWO8/s1600/Cutaway.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxC6qL2vEKpzliboOJfI8gusOzCWvqOgMMz-74BLkVO1xYiwwD9dojRYKcWZ8FWE4ExQ6wffdQcbq-GYkahZX09rzbXdXE2ZxW9B7BpI1xNwfben5TXGdMS2-rtryA4g6Y3fpBXQzTWO8/s1600/Cutaway.png" height="523" width="640" /></a></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here is a cutaway showing the direct-drive spool of the Dynamixel MX64 servo (which can output 7+Nm of torque), the cam lock mechanism actuated by an EMax digital hobby servo, and the main drive cable (Yellow). </span></div>
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<span style="font-family: Trebuchet MS, sans-serif; margin-left: 1em; margin-right: 1em;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjeKbVcC42VEXaIndiN0D21-lzpCfp1VCO3kPJynsE1wJcmId38Tup3xK4Kc6yADn0eV05pEs3WU2aHCHL549-njW_I-1mgkjwDTKkpvpOZYKSioICKl6L8ciS9yjcNv7xht7PpZTeon28/s1600/TendonOverview.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjeKbVcC42VEXaIndiN0D21-lzpCfp1VCO3kPJynsE1wJcmId38Tup3xK4Kc6yADn0eV05pEs3WU2aHCHL549-njW_I-1mgkjwDTKkpvpOZYKSioICKl6L8ciS9yjcNv7xht7PpZTeon28/s1600/TendonOverview.png" height="384" width="640" /></a></span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Here is a detailed view of the various active and passive tendons and other components within one of the fingers. Each finger is identical. </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">Thank you for considering my project in the MIT MechE deFlorez Competition! </span></div>
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<span style="font-family: Trebuchet MS, sans-serif;">-Daniel</span></div>
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Daniel J. Gonzalezhttp://www.blogger.com/profile/16243821238383246336noreply@blogger.com14