GENERAL OBJETIVE:
Mechanical Design
- Make a machine, including the end effector
- Build the passive parts and operate it manually
- Document the group project and your individual contribution
This allocation should create a module which contains a stepper motor with their respective guides to transform circular linear movement.
The first thing you did was download the file cardboard.dxf to do some tests with respect to assembly and assembly of the guide and move the box.
The first is to verify that the material thickness matches the drawing, otherwise adjust the thickness of the material for the assembly properly, this can be done very simple using the Scale command in AutoCAD.
After this procedure which should be performed is a cut in the laser to start the assembly of the pieces.
Figure 1 Cut cardboard to ar
Figure 2 guides and travel elements
Figure 3 Motor installed on structure
Figure 4 Structure with guide Cardboard
Once assembly and engine assembly, the guides and the element that converts the circular linear motion was made aluminum rails (tube) cut to enter into the cardboard structure created as shown in Figure 5 .
Figure 5 Cut Guide
Figure 6 complete displacement element carton
Since the structure was put together and all the elements were introduced, it shows that this is somewhat weak and unstable to maneuver with her, but details of friction observed to be removed.
Figure 7 displacement element mdf
With the help of exercise created in Week 3, a drawing parame trizado which allows you to change the dimensions and create a structure in mdf to build, assemble and can maneuver better way effector linear element (Figure 7) is created
Figure 8 Test connection for motor winding
the necessary tests are performed to determine the connecting wires of each winding and thus connected in the circuit and make engines move correctly, as shown in Figure 8.
• Cables Red and Green Winding A
• Cables Blue and Yellow Winding B
To achieve the movement of the motors an integrated circuit L293, which contains two full bridges H, each H Bridge serve to control a winding of each motor is used.
To move the engine was programmed in Arduino language routine rotation in 2 ways:
1. With a button that makes changing the direction of rotation
2. With a sequence that counts the number of steps for a spin motor
Download files:
The second is used to characterize or determine the linear displacement per revolution of the motor.
Figure 9 Test Circuit Finals