> For the complete documentation index, see [llms.txt](https://projects.tylerqwong.me/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://projects.tylerqwong.me/design-studio-2/mechanical-redesign.md).

# Mechanical Details

> The original project assignment specified that our motor and driver assembly should be applied to a four-bar linkage arm capable of playing an instrument. To that end we need to develop a four-bar linkage and overall assembly to link our custom motors together. We should also find a way to determine the robot arms position on start-up as the positioning system we had initially developed is only capable of tracking relative distances.

## RCGs

### Requirements / Constraints:

* Gear down our motor shaft output to accomodate for a raw angular resolution  of 15°.
* Offset the torque output of our two motors to the same axis.
* Four-bar linkage arm reaches a 15cm(?) by 4cm rectangular area.
* Indicators for a 'zero-position' from which the four bar linkage always starts from.
* Mounted keyboard of constant and known relative position and dimensions.

### Goals

* Automatic 'zero-position' calibration.
* Not unecessarily large.
* Not unecessarily expensive.