team churro: sharon grimshaw, maggie su, louis yi, and morgan zheng
TRANSCRIPT
The Chur-RobotTeam Churro: Sharon Grimshaw, Maggie
Su, Louis Yi, and Morgan Zheng
Project GoalsSafe
Heat: no burnsMoving components: no pinching
EasyLoading: one container, easily removed, to fillCooking: machine removes when done
User choiceLength or number of churrosShape of churro
The Website
Initial Idea
Mechanical SubsystemExtruderCutter/ShaperStirrerLifterShaker
Mechanical Subsystem – Lifter
Pulley System Rack and PinionVertical liftingCan lift more weightCan still use 1 motor to
control movements of 2 sets of pulleys
Vertical liftingToo much load on gear/motor,
assuming initial idea of lifting stirrer and mesh grid assembly.
Use 1 motor to lift allGear & racks may be expensive
Initial Idea:Need to lift an assembly consisting of a stirring mechanism with a platform and a mesh grid.
Revised Idea:Only lifting mesh grid, but need to constrain vertical motion
Mechanical Subsystem - ExtruderHow to keep the threaded rod vertical?
Guide holeFixed to the motor
Will we have enough torque?Stepper motor instead of servoGears
Mechanical Subsystem - StructureStability through weight
Stability through attachment
Make supports heavier so that pieces don’t move
Overall smaller systemDifficult to move around
(multiple heavy pieces)
Attach supports (L brackets) to base and frames so they do not move
Easier to transport because only one piece
Easier to set up because distance between pieces is predefined
Large, bulky system
Electrical Subsystem - OverviewTo be powered on 12 volts
2 stepper motors3 servo
Temperature gaugeThermocoupleInstrumentation amplifierCharacter LCD display
Electrical Subsystem – Stepper Control
Basic H-bridge driver:Requires four input pins to control each motorRevised two-pin control:Uses transistors to set polarity across coils – two input pins per stepper
Software ComponentMotor control – Arduino Stepper/Servo Libraries
Stirrer/Shaker can run on a loopExtruder, cutter, and lifter relies on user input
GUIPython
Serial communication is relatively easy to deal with Lots of GUI libraries to choose from – some of which are
painful to deal withProcessing
Theoretically very good for Arduino GUIs Requires generic firmware that communicates with a
Processing Library – may interfere with the use of other Arduino libraries.
Where we’re going…
Questions? Comments? Concerns?