No Code Website BuilderPaper "moving" on 1D cable system
Our first sprint consisted mostly of theory and planning. This meant a lot of whiteboard sketching and formulas. We considered different approaches, and decided to use the sprint to determine the viability of a cable actuated system. Our deliverable for this sprint was an motor actuated system that could move a rectangular paper in 1 dimension to show that it was possible to move something up, down, left, and right with just motors winding and unwinding.
Full frame with moving motors
After our first sprint, we wanted a much more physically able system. We built the skeleton of our frame, specced and ordered motors, then mounted our motors with 3D printed pieces. We also worked on writing firmware to actuate the motors with limited success due to Arduino issues. On the software side, we worked on using the Xbox Kinect to capture LiDAR and color data, which we used to create the beginning of our trajectory planning function.
Complete System
In Sprint 3, we made our final decisions and shot for a completely functional system. On the mechanical side, we finalized the framing and mounts and optimized the cable actuation with tensioners. We completed our electrical system and got all motors working, then wrote a code in Arduino that could actuate the motors to give and take cable length based on a desired new location. The software was completed, and the trajectory planning was optimized to work with our system.
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