After deciding which motor we were going to use, we were able to make the other pieces. We closely followed our Lego model for measurements, which proved to be very successful because all the pieces fit together. We used rods to connect delrin pieces together and lego pieces to connect delring pieces with lego pieces. All of our holes were designed to be loose fits so that the pieces would rotate smoothly. We then made bushings (tight fits) to secure the pieces on the rods. We made different bushings for the rods, lego rod, and lego black connecting pieces. It took us a couple designs to find the perfect bushing size and in the end they worked very well and made our mechanism stable and function wonderfully. Here is a picture of our mechanism attached to the motor:
In this picture, we placed our mechanism to the right side and our motor to the left side of the robot. We wanted to distribute the weight so that the robot would not topple to one side as it was moving. However, because the motor was separated from the mechanism with a certain distance (as we can see in the picture),when we powered our motor, the mechanism wobbled a lot and most of the energy was lost to the lego rod. The lego rod connecting the NXT motor, the gears and the delrin piece moved a lot so we decided that it was best that we take away that distance between the gear and the motor. We also decided that it would be best if the mechanism was pulling on the spritzer directly behind it, rather than having it pull it from the side. This would concentrate all the power towards pulling the spritzer. Because of all the changes we wanted to make, we greatly altered the design of our robot. We took this opportunity to minimize the amount of lego pieces we would use in order to make our robot lighter.
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