4 bar Linkage
The goal of this team project in my senior year was to design a four-bar linkage that hits a series of buttons as quickly as possible.
Demo Video
Video showing the final design in action.
Linkage Parameter
Placeholder content for the first section. Describe a key challenge or feature of your project here.
Hardware Selection
The two joints attached to the plate are free joints. To allow for freely rotating joints, we had two thrust bearings for axial load and a sleeve bearing for radial load. A machined spacer is used to maintain precise tolerance.
Transmission Selection
We considered a range of transmissions from spur gears to bevel gears, but we ultimately chose to use belt drive for better packaging. To address the classic issue with belt drives, we used a belt tensioner to keep the belt tight.
PID Control
The control system uses a PID controller to move the linkage to the desired position. The controller is implemented in C, and runs on an Arduino.
