week17

docs/assignments/week17.md

@@ -481,9 +481,23 @@ While still using 2 servo motors to control each side of the Elmo body, I decide
 
 On each side there will be 2 gears. 1 gear is connected to the servo motor, and the other gear would have opposite movement when the 1st gear moves.
 
+This is the sketch of the design as a whole.
+
+![](../images/week17/week17-29.png)
+
+Acrylic will be laser cut to create the gears, the parts (sketched with black lines) that support Elmo's arms and legs, the frame to support servo motors.
+
+Elmo's head, arms, and legs are tied to the parts with rubber bands (sketched with green lines).
+
+
+
 ### **Design**
+
  
-I firstly used Fusion360 to do the design work.
+I used Fusion360 to do the design work.
+
+
+#### **Gear**
 
 I refered to this [video](https://www.youtube.com/watch?v=Z0cY8L8te6o) on how to make gears and simulate the movement.
 
@@ -578,17 +592,177 @@ I put a screw in the middle to screw the gear onto the axis of the motor too.
 
 ![](../images/week17/week17-23.png)
 
+#### **Body support**
+
+Then I designed the parts to support Elmo body.
+
+I used Insert > Insert SVG to import the gear's sketch into Fusion 360.
+
+![](../images/week17/week17-24.png)
+
+I sketched the support for arm. 
+
+Then I duplicated the gear and manually positioned it next to the first gear.
+
+And I sketched the leg support.
+
+
+![](../images/week17/week17-25.png)
+
+#### **Frame**
+
+Then I made an acrylic frame to support the motors and Elmo.
+
+I sketched a rectangle shape to fit the motor in, and 4 circular holes to screw the motor onto the acrylic.
+
+I also added a hole to fix the leg gear on.
+
+I copied and pasted for the other side of the body.
+
+![](../images/week17/week17-26.png)
+
+
+I sketched the outline of the frame, added a slot to put in key-shaped parts to hold Elmo's head.
+
+
+![](../images/week17/week17-27.png)
+
+
+#### **Bottom**
+
+I sketched the bottom to fit the frame onto it.
+
+I didn't put the slots in the middle, but one side shorter than the other. 
+
+The shorter side will carry Elmo, since the longer side is needed to balance out the weight of Elmo.
+
+![](../images/week17/week17-28.png)
+
+
+
+
+### **Production**
+
+I used 3mm acrylic for gears and arms&legs support parts, 5mm acrylic for frame and bottom.
+
+I used TROTEC Speedy 100 to cut.
+
+![](../images/week17/week17-30.png)
+
+
+### **Assembly**
+
+I used M3 screws of different lengths for assembly.
+
+I put the servo motor into the rectangular slot, and screwed it onto the acrylic frame.
+
+![](../images/week17/week17-31.png)
+
+
+I screwed the arm support part, gear, motor top together and put it onto the servo motor's axis.
+
+![](../images/week17/week17-32.png)
+
 
+For the leg's gear, I used a spacer and 3 nuts to create space between the gear and the frame.
 
+![](../images/week17/week17-35.png)
 
+I also learned about double nuts method [(reference)](https://www.boltscience.com/pages/twonuts.htm). 
 
+Screwing 2 nuts together fixes the position of the nuts to prevent self loosening.
 
-Great thanks to Homma-san for all the help regarding network, 
+![](../images/week17/week17-33.png)
 
-Oguri-san for all the advices on machine building, 
+Actually in the previous design, I didn't make the hole on the acrylic frame to fix the leg gear. 
 
-Yamamoto-san for the advices on electronics as always.
+I was using a linkage to connect arm & leg gear, however the leg gear moved not as I expected.
+
+<iframe src="https://player.vimeo.com/video/448035226" width="640" height="480" frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe>
+
+That's why I decided to add the hole to fix leg gear.
+
+
+And I put the little key part in as the head holder.
+
+
+![](../images/week17/week17-34.png)
+
+This is how I put the rubber bands onto Elmo's head, arms and legs.
+
+![](../images/week17/week17-36.png)
+
+Tadaaa!
+
+![](../images/week17/week17-37.png)
+
+
+### **Program**
+
+As before, I connected both servo motors onto ESP32's pin 12 and 13.
+
+I wrote this program onto ESP32 while adjusting the angles.
+
+
+```
+#include <Servo_ESP32.h>
+
+static const int servo1Pin = 12;
+static const int servo2Pin = 13;
+
+Servo_ESP32 servo1;
+Servo_ESP32 servo2;
+
+
+void setup(){
+  Serial.begin(9600);
+}
+
+void loop(){
+        servo1.write(50);
+          servo2.write(100);
+          delay(1000);
+         servo1.write(100);
+         servo2.write(50);
+          delay(2000);
+
+        
+}
+
+```
+
+It moved a lot more stable than before! Not a drunken conductor anymore :P
+
+<iframe src="https://player.vimeo.com/video/448036604" width="640" height="480" frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe>
+
+
+## **After week17**
+
+I learned a lot about the basics of machines, including linkages, gears, and the usage of screws. Also when prototyping, fixing some parts using tape could be very helpful.
+
+Great thanks to Homma-san for all the help regarding network, Oguri-san for all the advices on machine building, Yamamoto-san for the advices on electronics as always.
 
 ## **Files**
 
-- servo motor under MQTT communication .ino [file](../projects/materials/mqtt.servo.ino)
\ No newline at end of file
+### **Program**
+
+- servo motor under MQTT communication .ino [file](../projects/materials/mqtt.servo.ino)
+
+- controlling servo motor using ESP32 .ino [file](../projects/materials/esp32_servo.ino)
+
+### **Design**
+
+- involute gear .svg [file](../projects/materials/Elmo_gear.svg)
+
+- arm support .dxf [file](../projects/materials/elmo_arm_support.dxf)
+
+- leg support .dxf [file](../projects/materials/elmo_leg_support.dxf)
+
+- frame .dxf [file](../projects/materials/elmo_frame.dxf)
+
+- bottom .dxf [file](../projects/materials/elmo_bottom.dxf)
+
+- head holder .dxf [file](../projects/materials/elmo_head.dxf)
+
+- Fusion 360 design .f3d [file](../projects/materials/elmo_design.f3d)
+

docs/assignments/week18.md

@@ -37,6 +37,11 @@ Since I'm documenting this after my final presentation, here are the tasks that
 
 ## **What's working? What's not?**
 
+Most of the system is working as planned.
+
+Here are parts I triaged but can work on in the future:
+
+- Create
 
 
 ## **What questions need to be resolved?**