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week08

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docs/assignments/week08.md
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......@@ -70,7 +70,14 @@ And here it goes!
### **Program with C language**
Then I tried to program the hello board I made in Electronics design week:
![](../images/week06/week06-26.png)
#### **Code**
I wanted to make the LED blinking to the alphabet thats being input based on the alphabet's binary code. My strategy was to combine the echo.hello [code](http://academy.cba.mit.edu/classes/embedded_programming/hello.ftdi.44.echo.c) from FabAcademy class with an LED blink [code](http://fabacademy.org/2019/labs/kamakura/students/kae-nagano/images/week09/Led1.c) by Kae Nagano from FabAcademy2019.
To understand where to modify on the echo.hello code, I received a helpful recitation from Kae-san.
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docs/assignments/week17.md
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......@@ -14,7 +14,7 @@ I made Elmo - the drunken conductor.
The idea is to make Elmo dancing to the rhythm.
## **Machine building**
## **Machine prototyping**
I made the structure using LEGO parts like this. The structure is mainly consist of linkages.
......@@ -453,28 +453,142 @@ I plugged it to a charger that supplies 2.0A and it successfully powered 2 servo
## **Overall**
## **Prototype outcome**
Elmo's arms and legs are connected to the parts with rubber band.
The batton is also attached to the hand using a rubber band.
This dude deserves a hero shot :)
<video width="600" controls>
<source src="../../images/week17/elmo.mp4" type="video/mp4">
</video>
## **(Actual) Machine building**
When I started to have lab access again, I decided to build a proper machine instead of taping Elmo onto bottles for stability and reproducibility.
While still using 2 servo motors to control each side of the Elmo body, I decided to use a gear system instead of a linkage system.
![](../images/week17/week17-14.jpg)
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.
### **Design**
I firstly used Fusion360 to do the design work.
I refered to this [video](https://www.youtube.com/watch?v=Z0cY8L8te6o) on how to make gears and simulate the movement.
To make a gear, I opened Scripts and Add-Ins in Tools > ADD-INS.
In there I chose SpurGear ran with Python. (It seems that either Python or C++ would work the same.)
![](../images/week17/week17-15.png)
I made 2 same gears with:
- Pressure angle 20
- Module 3.00
- Number of teeth 13
- Gear thickness 3mm
- Hole diameter 3.2mm
Once these parameters are set, it tells you that the pitch diameter would be 39mm.
And I manually dragged to place the 2 gears so their pitch circle touches each other.
![](../images/week17/week17-16.png)
Then I sketched circles that align with the hole of each gear, extruded them to make cylindars as axis.
![](../images/week17/week17-17.png)
To simulate the movement of gear spinning, I added joint (ASSEMBLE > joints) with the hole of the gear, and the circular surface of the cylindar as faces.
![](../images/week17/week17-18.png)
After setting joints on both gears, I used motion link (ASSEMBLE > motion links) to link the movements of the 2 gears.
I selected the joints as rev 1 and rev 2.
![](../images/week17/week17-19.png)
<iframe src="https://player.vimeo.com/video/445805077" width="600" height="600" frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe>
I exported the sketch of gears as DXF.
But when I opened it in Inkscape...
![](../images/week17/week17-20.png)
... :(
Inkscape couldn't sketch the curves... It seems that it works with Illustrator well, but not Inkscape.
So I made vector file for gears using this webpage based [Involute Spur Gear Builder](http://hessmer.org/gears/InvoluteSpurGearBuilder.html).
I refered to the parameters I set on Fusion 360.
Here are the parameters I changed:
- Pressure Angle 20
- Wheel 1 tooth count 13
- Wheel 1 hole diameter 3.2
- Show Wheel 1 only
Circular pitch is calculated automatically based on the parameter input.
![](../images/week17/week17-21.png)
After hitting "Update", I hit "generate DXF" to export the DXF file.
So I was able to open it in Inkscape.
I added 2 holes with diameter of 3.2mm so I can screw the gear onto the servo motor.
![](../images/week17/week17-22.png)
I saved it as .svg file and cut 4 gears.
The servo motor comes with accessories including a plate that fits onto the servo. I opened 2 holes on the plate with hand drill to align with the holes on the gear, and screwed the gear onto it.
I put a screw in the middle to screw the gear onto the axis of the motor too.
![](../images/week17/week17-23.png)
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)
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docs/assignments/week18.md
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......@@ -17,6 +17,23 @@ Complete your final project, tracking your progress:
## **What tasks have been completed, and what tasks remain?**
Since I'm documenting this after my final presentation, here are the tasks that I have completed:
- Fabricate the distillation tower.
- Fabricate a peristaltic pump.
- Fabricate a control panel.
- Figure out the power supply since DC motor and solenoid pump requires 6V and 12V power.
- Produce a PCB that controls the whole system.
- Program the system.
- Integrate all the parts to ensure safety, and rather neat wiring.
## **What's working? What's not?**
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docs/projects/materials/Elmo_gear.svg 0 → 100755
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