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.