Model Development
In the initial stage, we brainstormed possible methods to flip papers. We first decided on a motorised pick up roller that would roll under each page before flipping it over. The motion of the roller would be controlled by the mechanical arm made of servo motors. Our first sketch looked like this
This sketch did not address the need of the replacement of booklets.
Second Phase
As we began to build a prototype of the initial sketch, we realised that another method to pick up papers was to use a suction head attached to a moving arm of servo motors. We also thought of a conveyor belt that would change the booklet positioned under the arm once the previous booklet was flipped through. The sketch and its mechanism is shown below.
Final Phase
Our finalised model saw a change in the method of changing booklets as the conveyor belt would require someone to change the booklets, while the goal is to have a fully automated process of digitalising the booklets. We decided to use 2 platforms attached to stepper motors with linear modules that will move as the pages are flipped, keeping the height of the booklets at a constant position where the suction head can pick up the page. The mechanical arm was also attached above the booklets rather than beside the booklets in the previous sketch.
Prototype
Our first prototype began with 3 servo motors connected to an Arduino board. We attempted to achieve a flipping motion by altering the angles of a code found online. The initial configuration of the arm was such that the base of the arm was at the same height as the booklets, but the subsequent prototypes positioned the arm above the booklets.
As the flipping motion of the servo motor was smoothened out, the frame and stepper motors were assembled to hold a maximum of 100 booklets.
Final Product