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---+ Lab 1 
In this lab, we design 3 puppets that can actuate at 1mm, 10mm and 100mm. Given below is a description to each individual action puppets
[[https://bugs.cs.ubc.ca/cgi-bin/twiki/view/Main/BikramAdhikariLab2][Click here]] to see what happens to these puppets next.

%TOC%

---+++ 1mm Poker Puppet
This actuator is based on eccentric cam mechanism. There is a lever attached to the top of the cam shaft. This lever can only move in a distance ranging between minimum and maximum radius of the cam shaft. I have designed the difference to be approximately 1mm. This lever has a pen connected to it which bores on to the base plate.

<img class="imgPageWidth" src="%ATTACHURL%/1mm_perspective1.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/1mm_perspective2.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/1mm_top.jpg" height="400" >

Action

When the cam shaft rotates, the lever oscilates within 1mm distance. This oscillation is transferred as linear motion on to the pen. This pen only pops out (or pokes out) of the base plate when the cam shaft is at its minimum diameter position. These two extreme cam shaft positions are shown in the images below. 

<img class="imgPageWidth" src="%ATTACHURL%/1mm_front_action1.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/1mm_front_action2.jpg" height="400" >

See video here: http://www.youtube.com/watch?v=2-08aaWPc2M&feature=youtu.be

---+++ 10mm Pen Puppet
This design transfer small circular motion to linear action. The total displacement is about 10mm. The rotatory shaft can rotate on one direction until the string is completely unwounded from the shaft. In the other direction, it can rotate only up to the position where the linear shaft's string lock is on its top. The rotatory shaft uses friction based locking mechanism to lock the linear shaft at a particular position. This design is inspired from traditional Nepalese instrument called "Sarangi".

<img class="imgPageWidth" src="%ATTACHURL%/10mm_perspective.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/10mm_top.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/10mm_side.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/10mm_back.jpg" height="400" >

Action 

In the following images, the two extreme positions of the rotatory shaft are shown. Correspondingly, we can observe the displacement of the linear shaft to be around 10mm.

<img class="imgPageWidth" src="%ATTACHURL%/10mm_action1.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/10mm_action2.jpg" height="400" >

See Video here: http://www.youtube.com/watch?v=1uL_xB_lVZE&index=5&list=PLFNjF5XN33kHVeIN8pdtEKfSgrSi6UhiO

---+++ 100mm Arch Puppet

This arch puppet transfer circular motion of small radius to an arch motion of larger radius. The small rotating link was designed to half approximately half the radius of large rotating link. The connecting link between the two rotating links is arbitrarily chosen. In this design, the spacing between to rotating links on the base was varied to achieve approximately 100mm arch motion.

<img class="imgPageWidth" src="%ATTACHURL%/100mm_top.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/100mm_side.jpg" height="400" >
<img class="imgPageWidth" src="%ATTACHURL%/100mm_perspective.jpg" height="400" >

Action:

This image shows puppet half way between two extremities. The end effector is a pen which draws on the paper as shown

<img class="imgPageWidth" src="%ATTACHURL%/100mm_action.jpg" height="400" >

See video here: https://www.youtube.com/watch?v=3G-MnAZegX0&list=PLFNjF5XN33kHVeIN8pdtEKfSgrSi6UhiO

<object width="425" height="344">
<embed src="https://www.youtube.com/watch?v=3G-MnAZegX0&list=PLFNjF5XN33kHVeIN8pdtEKfSgrSi6UhiO" type="application/x-shockwave-flash" wmode="transparent" width="425" height="355">
</embed>
</object>


-- Main.BikramAdhikari - 21 Jan 2014

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who
jpg	100mm_action.jpg	r1	manage	965.8 K	2014-01-31 - 17:46	BikramAdhikari
jpg	100mm_action1.jpg	r1	manage	1144.0 K	2014-01-31 - 17:39	BikramAdhikari
jpg	100mm_perspective.jpg	r1	manage	803.3 K	2014-01-31 - 17:47	BikramAdhikari
jpg	100mm_side.jpg	r1	manage	1049.2 K	2014-01-31 - 17:48	BikramAdhikari
jpg	100mm_top.jpg	r1	manage	996.7 K	2014-01-31 - 17:48	BikramAdhikari
jpg	10mm_action1.jpg	r1	manage	1144.0 K	2014-01-31 - 17:42	BikramAdhikari
jpg	10mm_action2.jpg	r1	manage	888.6 K	2014-01-31 - 17:39	BikramAdhikari
jpg	10mm_back.jpg	r1	manage	905.0 K	2014-01-31 - 17:38	BikramAdhikari
jpg	10mm_perspective.jpg	r1	manage	890.1 K	2014-01-31 - 17:37	BikramAdhikari
jpg	10mm_side.jpg	r1	manage	875.8 K	2014-01-31 - 17:38	BikramAdhikari
jpg	10mm_top.jpg	r1	manage	817.8 K	2014-01-31 - 17:37	BikramAdhikari
jpg	1mm_front_action1.jpg	r1	manage	1016.5 K	2014-01-31 - 17:26	BikramAdhikari
jpg	1mm_front_action2.jpg	r1	manage	1026.0 K	2014-01-31 - 17:27	BikramAdhikari
jpg	1mm_perspective1.jpg	r1	manage	880.9 K	2014-01-31 - 16:49	BikramAdhikari
jpg	1mm_perspective2.jpg	r1	manage	1243.8 K	2014-01-31 - 17:26	BikramAdhikari
jpg	1mm_top.jpg	r1	manage	1023.5 K	2014-01-31 - 17:27	BikramAdhikari

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Topic revision: r4 - 2014-02-07 - BikramAdhikari