Week 8 (5 July – 11 July)
Most of the time this week was spent optimizing code and writing a sequence of motions for the platform to display its capabilities as well as preparing for an update presentation on the 9th.
A dynamic slicing number generator was added to the code which should smooth out our motions. We also managed to add some delay to the sending of data to the Arduino to prevent serial buffer overflow.
Some improvements in the hardware section include the 3rd actuator platform adapter that now has a variable height function. The ball joints are also able to be friction fit into the adapters after lowering the tolerances.
The 3rd platform prototype is completed but the tolerances are still not small enough. This could be due to print inaccuracy as the tolerance given was the same as the actuator platform adapters.
The 2nd guide prototype has finished printing and prevents any play in the actuators while leaving just enough space for the actuators to move freely without restriction.
We are exploring alternatives to the magnetic ball joints to increase load capacity and reliability. Currently, universal joints are what we have in mind but this would cost quite a bit and require the redesign and fabrication of some of our existing parts.
One of the sequences we programmed
