Mechanics Prototyping

In the sketch I have decided to devide the structure mainly in 4 parts. So that I can test the position and how can I build it correctly one by one .. and then if I have enough time I'll unite all as one structure (apart from part D of course)
PART A : Tank & pump
PART B : Arms
PART C : Book box
PART D : Rosary

PART A : Tank & pump

I already have 2 servo motors and Enrico lend me his micro pump

the micro pump will be used with medicinal tubes

do I need mosfet ?

Then the usual process.. sketch, Rhino, laser cut. Test, modify, repeat.. and...
Hello, you ! :))

How-to : Laser cut a 4mm balsar :
- export file in Rhino 4
- print / property : Speed 4, Power 100, PPI 1000; 
Advanced :inside-out; 
Paper : extend (to get 0,0 out of the default )
Move.. to move the cutting area
Focus by manually move the arms then auto focus

for the box I use tolerance of 0.2 mm

Testing with DC regulated power supply

testing with black poster color, moving manually the tube

And.. that's my first prophecy !! ;)

Another manual testing for arms movement

This time after folding the paper, I pressed and flattened it in different direction. Look at how different the result is.

PART B : Arms

SCARA Robot arm movement.. can I make something alike with only 2 servos ?

cool video on youtube

cool gif from wikipedia

I laser cut the parts and tested them manually to discover how big they can draw and what's the limitation

The test is needed also to calculate the whole size of structure

The main issue is how to prevent 2 arms from attackinng each other.. and also I'll need some kind of algorithm to not break the arms from bad movements.
- Also the bigger the distace between two arms are, the less they can crash.
- moving one motor higher up can also helps...

PART C : Book box

Originally this project inspired me for all the movement and the ironic effect it creates..

Then I searched for better solution for to open & close the book. Here's gear idea from enrico

Do I need H-bridge ?

or these

But in the end the time is tight and I still cant figure out a better way. So, here's the first mock

Accidenteally I have created a human-like machine! and I love it ! :D

Doesn't he look like a ninja with a sward ? :))

It was a good idea that I've planned each part seperately so that I can adjust them.

Now I know that I'll need a distance between part b and c to avoid crashes.

Also I'll need a weight to hold the book part. Now the paper is A3 size. I'll reduce it to A4.
After I know all the position I'll unite the 3 parts together.

the updated design

Laser cut & assembly time

Download files :
Structure file : Rhino 4(3dm)