Dec 3, 2023
hate hate hate robotics and hate hate hate the game strat people
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hate hate hate robotics and hate hate hate the game strat people
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The final result.
The Cornell Cup Competition presented by Intel took place May 2-3 in FL. Unfortunately, while all our electronics departed with us, not all of them arrived in Florida. We were able to rig together a solution using an Arduino, a motor shield, a laptop, and a couple of chunky 12V batteries.
We didn't have time to get the font working, but with an hour left in the competition we were able to draw the lines in the video above. The desired force is set to fluctuate at set intervals, varying the first two lines and the sin curve between thin and thick periodically. The 3rd line is a slow increase from a medium line to a thick line.
Since we were missing the Intel Atom board that was the main requirement of the competition, we didn't win any awards, but we're pretty thrilled we managed to approximate a week's worth of work in 1 day and managed to have something running to show the judges.
Our robot drawing a curved line.
The curve is shaky because at high speeds the lead screw starts to vibrate. However, it is drawing a very nice thin hairline stroke upwards without damaging the pen nib which is wonderful.
All assembled!!!!!
It's getting down to the wire, and still so much work to do.
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The configuration for our Series Elastic Actuators. SEAs are cool because they decouple the motor and the load. That means when our pen hits the paper, the springs flex a bit to absorb the force of the impact and the motor doesn't feel it at all.
The motor is protected by its shield of mighty springs.
We can also uses the SEAs for force sensing. By measuring how much the spring deflects we can relate that to how hard we're pushing down on the paper with the calligraphy pen. When we code the robot to measure and react to that deflection we can control the width of the line that it is writing.
The full finished CAD model of what this thing should end up being. Made super pretty by the detailed call-out so that it can be used in marketing material for Project Presentation Day.