Sprint 3 -Implementing the arm structure onto the robot - Hasini

[Walker21122008]

GOALS FOR SPRINT 2: The goal is to implement the arm for the intake of the specimen/sample and put it in the high/low basket. The arm would be foldable.

Objectives From the last sprint, we saw that the linear sliders did not work. For that reason, we made another set of foldable arms which was also able to reach the high and low basket. This arm included a set of claws that would be used to hang the specimen on the rod. Using the new set of arms that we created we have to:

• Start to fit the arm onto the standing frame of the robot
• Make some minor changes to the arm if the arms are not lifting properly
• Start with coding a certain portion of the arm like lifting the base arm and coding the claw specimen with the help of Thomas.

[Walker21122008]

October 31, 2024 - Hasini Today, I slid the base arm onto the large gear of the robot. On sliding the second arm to support the intake, I saw that the angle was done wrong so, I tried positioning the second arm in different angles to figure out which angle would be the most suitable so that it would turn vertically straight. On implementing the intake, I figured that it was fixed the wrong way so I had to undo the intake.

Issue:

• Intake still has to be fixed.

[Walker21122008]

Nov 1, 2024 - Hasini Today, I started to fix the intake. I undid the intake and began cutting out a plastic sheet according to the desired size to check whether it would hold the specimen securely. After that, I tested it out with the battery to check if it ran properly and then I inserted the intake to the last part of the arm to test if the arms coordinated together. I settled the intake at a different angle since it kept jerking when it moved. There are still some long extensions of the shaft so they still have to be cut.

Issue:

• Have to still cut the long shaft
• Have to still mount the motors for the intake

[Walker21122008]

Nov 4, 2024 - Hasini Today, Thomas and I started with the coding of the base arm. We tested out different coding blocks and alternated often between java and block coding. We figured out that block coding would be much easier. After that, we tested the arm out and it was able to move easily and effectively. We realized that the motor for the middle arm wasn't mounted on so, I started to mount it on for the next day.

Issue:

• Still have to fix the second part of the arm.
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[Walker21122008]

Nov 6, 2024 - Hasini Today, Mr.Fabroa suggested removing one of the shafts such that it would be cost-efficient to fix and cut the shaft. So, we started to undo the arm to shift the shaft and removed the intake shaft to use the later to insert an extra shaft. After that, I finished the logo and started working on the portfolio.

Issues:

• Have to finish up the arm
• Have to cut the extending shaft
• Have to start coding the claw (not part of this sprint)

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[Walker21122008]

Nov 7, 2024 Today, I started off with helping Thomas with readjusting the arms such that there was no issues with it since yesterday, thomas helped to find out that the robot's arms were wrongly positioned. After that, we refixed the intake and coded the specimen gripper and tested it out. It was able to grip the specimen properly. I checked whether the robot fitted within the height limit and adjusted it if it didn't.

Issues:

• None so far

[Walker21122008]

Nov 7, 2024 Today, I continued with working on the portfolio and started coding the specimen gripper. The gripper worked tight and well which is good. Then, we adjusted a bit of the wiring. After that, I took a mug shot of all my team members for the portfolio.

Issues:

• None so far

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