1. Syracuse University
College of Engineering
Synthesis of Mechanical Systems II
Progress Report
MEE 472
Benjamin Rosenfeld, Theodros Belay, Yvline Tanis, Alexander McGlone,
Patrick Carney
Supervised by
Prof. Frederick J. Carranti, Dr. Michelle M. Blum
March 3, 2016

2. ! 2!
Abstract(
!
Tasked with creating a device to retrieve, sort, and deposit various balls, team one has
used the past few months to continue researching, designing and manufacturing the
various system components that will make up the ball harvester mechanism. The Gate 2
report explains the accomplishments of team one since the end of the fall 2015 semester
and the current status of each system of the device. These systems are the feeding,
sorting, storage, movement and controls systems. The report assesses three major areas of
design: progress, method and future work. Under the progress section, the team will give
a detailed layout of the path taken towards the solution for each system and their
components. It will explain the changes parts underwent and adjustments that were made.
In the method section, the team will describe how each component and system will
function. Furthermore, parts that make up systems are described here to give the reader a
clear understanding of how they work together. Analysis and prototypes will also be
discussed here supported by visual representation. Within the future work section, the
team will lay out the work going forward for each system as well as the entire machine.
Each system may require adjustments to accommodate components of other systems
when assembling the machine. More so, potential issues and risks to components are
discussed in this section as well as ways to mitigate those risks. Most importantly, the
future work section details what the group needs to accomplish to achieve the goal of
building a functional, variety ball harvester by the end of the spring 2016 semester. At the
tail end of the report, a budget analysis on the project thus far is talked about. There, costs
of parts are displayed.
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3. ! 3!
Table(of(Contents(
ABSTRACT' 2!
STATEMENT'OF'WORK' 4!
BACKGROUND'ON'THE'PROJECT' 4!
FEEDER'SYSTEM' 5!
METHOD!OF!SOLUTION! 5!
FUTURE!WORK! 7!
SORTING'SYSTEM' 8!
METHOD!OF!SOLUTION! 8!
FUTURE!WORK! 12!
STORAGE'SYSTEM' 13!
METHOD!OF!SOLUTION! 13!
PROGRESS!TOWARD!SOLUTION! 15!
FUTURE!WORK! 16!
MOVEMENT'SYSTEM' 17!
METHOD!OF!SOLUTION! 17!
PROGRESS!TOWARD!SOLUTION! 19!
FUTURE!WORK! 22!
CONTROLS' 23!
METHOD!OF!SOLUTION! 23!
PROGRESS!TOWARD!SOLUTION! 25!
FUTURE!WORK! 25!
MATERIALS' 26!
METHOD!OF!SOLUTION! 26!
PROGRESS!TOWARD!SOLUTION! 26!
FUTURE!WORK! 26!
ECONOMIC'ANALYSIS' 27!
CONCLUSION' 29!
PROJECT'AND'REPORT'RESPONSIBILITIES' 31!
REFERENCES' 33!
APPENDIX' 34!
APPENDIX(A' 35!
CC'SOLID'MODEL'DRAWINGS'CC' 35!
APPENDIX(B' 50!
<<!ARDUINO!CODE!<<! 50!
APPENDIX(C' 54!
<<!ECONOMIC!ANALYSIS!<<! 54!
APPENDIX(D' 55!
<<!GANTT!CHART!<<! 55!
APPENDIX(E' 57!
<<!PROJECT!RESPONSIBILITIES!<<! 57!
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4. ! 4!
Statement(of(Work(
Background(on(the(Project(
!
The!purpose!of!this!project!is!to!research!and!design!a!machine!that!is!capable!of!
picking! up,! distinguishing,! storing,! and! depositing! a! variety! of! balls.! These! balls!
include!tennis,!golf,!and!lacrosse!balls.!This!is!a!team<based!project!and!each!team!
has! the! same! constraints! specified! in! the! project! statement.! These! constraints!
include!a!size!limitation,!limited!funding,!and!a!non<hazardous!energy!source.!
!
Team!one!decided!that!the!machine!could!be!divided!into!5!separate!components;!
the!feeder,!sorter,!storage,!movement,!and!control!system.!The!feeder!is!a!conveyor!
belt!inspired!design,!utilizing!two!rotating!pulleys!and!a!chain!with!fins!attached!to!
pick!up!the!balls.!It!works!in!conjunction!with!a!curved!plow!so!the!balls!can!easily!
roll!up!the!front!of!the!device.!The!sorter!uses!two!methods!to!distinguish!between!
the!three!ball!types,!by!weight!and!by!size.!Then!a!small!servomotor!provides!the!
mechanical! motion! to! either! store! or! release! those! balls.! The! storage! component!
supports!the!sorter!and!can!be!raised!and!lowered!with!scissor!lifts.!A!door!in!the!
back!can!open!to!release!the!balls!when!necessary.!The!movement!system!design!is!
a! unique! tread! system.! The! treads! are! custom! made! from! a! combination! of! bike!
chains,! machine! screws,! and! rubber! tubing.! The! movement! system! will! use! two!
motors!(one!for!each!tread).!Finally,!an!arduino!uno!combined!with!various!shields!
were! chosen! to! create! a! multilayered! module,! allowing! for! remote! control! of! the!
device.!Each!component!of!the!device!was!designed!with!the!other!systems!in!mind!
in!order!to!ensure!that!they!will!perform!well!when!assembled.!
!
The!last!time!the!team!constructed!a!report,!only!one!prototype!had!been!made!and!
it! was! to! verify! a! concept! for! the! sorting! system.! A! general! purposed! idea! with!
preliminarily! 3D! modeling! was! presented! and! a! basic! budget! list! had! been!
composed.!Basic!calculations!had!also!been!performed!to!give!a!general!idea!of!how!
the!machine!would!operate!on!the!test!day.!Since!then,!multiple!prototypes!of!some!
of!the!systems!have!been!built!and!tested!to!verify!concepts.!The!code!to!control!the!
machine!has!been!completed!as!well!but!will!be!refined!after!testing!the!machine.!
SolidWorks!models!and!professional!drawings!for!the!majority!of!the!machine!are!
also!complete!and!can!be!found!in!the!appendix!section!of!the!report.!!
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5. ! 5!
Feeder(System(
Method(of(Solution(
!As! the! feeder! unfolds! in! its! mechanical! design! many! stages! of! testing! will! be!
required!for!the!team!in!order!to!mitigate!issues!that!may!arise.!Initially!the!team!
was! able! to! obtain! two! aluminum! pulley! stocks! that! span! 4! inches! in! length,! .44!
inches!in!diameter!and!.080!inches!(MXL)!in!pitch.!With!these!pulley!stocks!the!team!
was!also!able!to!obtain!a!conveyor!belt!of!.080!inch!(MXL)!Pitch,!124!Teeth,!and!0.25!
inch!wide!Neoprene!Body!with!fiberglass!reinforcement!as!shown!in!Figure'1.!The!
general!specifications!for!both!the!pulley!stock!and!conveyor!is!Since!the!conveyor!
belt!supplied!was!0.25!inches!wide,!we!gathered!12!individual!pieces!to!span!the!3!
inch!width!for!the!designated!balls!to!travel!up!against.!The!issues!that!had!come!
about!was!finding!a!method!to!attach!the!external!metal!fins!necessary!to!scoop!up!
the!various!balls!and!the!ability!of!the!conveyor!belt!to!fully!function!with!induced!
loads.!!
!!
From!this!point!the!team!had!transitioned!to!a!second!phase!in!this!conveyor!belt!
feeding!mechanism.!With!the!kind!assistance!of!John,!an!engineer!at!JJ!Associates,!
the! team! was! able! to! receive! brand! new! parts! to! design! a! more! efficient! robust!
conveyor!belt!mechanism.!JJ!Associates!is!a!company!that!specializes!in!aluminum,!
steel!and!plastic!pulley!stocks!in!all!pitches.!They!engage!in!specific!machining!such!
as!special!bores,!counter!bores,!keyways,!double!pulleys,!and!special!width!pulleys.!
Furthermore,!JJ!Associates!supply!a!full!line!of!belting!products!from!flat!to!timing!
belts,! round! belts,! mylar! film! belts,! stretch! belts,! poly<v,! special! cover! and!
perforations.!To!that!extent,!John!provided!the!team!with!two!brand!new!aluminum!
pulley!stocks!for!free!along!with!a!conveyor!belt!specially!cut!and!made!to!span!the!
3!inch!width!necessary!for!our!feeder!mechanism.!The!conveyor!belt!is!a!neoprene<
coated! fiberglass! fabric! that! is! uniquely!
composed! of! synthetic! rubbers.! It! has!
excellent! mechanical! strength,! high!
resistance! to! weather,! low! flammability,!
good! resistance! to! chemicals! and! moderate!
oil!resistance.!
!
!!The! two! aluminum! pulley! stocks! span! 9.1!
inches!in!length.!The!team!was!able!to!take!
one!of!the!pulley!stocks!to!the!machine!shop!
and! saw! it! in! half.! Next,! the! Team! used! the!
lathe!machine!to!turn!both!ends!of!the!pulley!
stocks!down!to!a!0.25!inch!diameter!with!a!
Figure!1!–!Belt!Specifications!
Figure!2<Conveyor!Belt!Assembly!

6. ! 6!
shaft! length! of! approximately! 0.5! inches.! With! two! brand! new! machined! pulley!
stocks,!the!conveyor!belt!was!ready!to!be!put!to!use.!For!maximum!efficiency!and!
functionality,!the!conveyor!belt!had!to!be!tensioned!by!placing!the!pulley!stocks!4.6!
inches! apart.! With! the! design! constraint! in! mind,! the! framework! for! the! feeder!
system!also!began!to!unfold.!
!
The! generic! framework! of! the! feeder! was! initially! designed! in! SolidWorks.! Once!
designed!to!meet!the!required!specification,!the!model!was!converted!to!a!STL!file!
ready! to! be! 3D! printed.! With! the! aluminum! pulley! stocks! machined! to! the!
appropriate!length,!the!team!began!to!assemble!the!various!components!to!form!the!
conveyor!belt!mechanism.!The!12V!DC!motor!at!our!disposal!consisted!of!a!⅛!inch!
shaft! diameter! which! required! the! team! to! order! a! coupler! from! Servo! City.! This!
coupler! joined! the! motor’s! ⅛! inch! shaft! diameter! to! the! ¼! inch! diameter! pulley!
stock!shaft.!The!conveyor!belt!mechanism!was!then!integrated!with!the!framework!
of!the!feeder!allowing!the!team!to!go!directly!into!the!testing!phase.!
!
Unfortunately,! once! the! motor! had! been! mounted! to! the! 3D! printed! frame! and!
supplied!a!12V!battery!source,!the!conveyor!belt!mechanism!did!not!rotate.!It!was!
observed!that!the!pulley!stocks!induced!such!a!heavy!load!that!the!motor!could!not!
provide! enough! torque! to! rotate! it,! indicating! that! the! motor! simply! was! not!
powerful! enough.! While! this! was! an! issue! the! team! had! simultaneously! been!
working!on!an!alternative!concept!in!case!of!such!an!unforeseen!circumstance.!The!
team!had!invested!in!a!concept!known!as!E<Chains.!
!
E<Chains! are! said! to! be! the! umbilical! cord! of! modern! machines.! They! minimize!
downtime,!protect,!support!and!extend!the!service!life!of!cables!and!hoses.!Though!
the!intended!purpose!of!these!E<chains!were!meant!for!the!protection!and!support!
of! cable! wires! and! hoses! the! team! had! a! different! approach! in! their! use.! The! E<
Chains!are!light!in!weight!and!incorporate!slots!in!its!design!which!the!team!thought!
would!be!beneficial!to!attach!external!materials!to!scoop!up!balls!as!opposed!to!the!
Figure!3<EChain!Sprocket!Assembly!

7. ! 7!
conveyor!belt!mechanism.!Through!geometric!analysis!the!team!was!able!to!design!a!
custom!fit!sprocket!to!mesh!with!the!E<Chains!and!3D!print!it!for!testing.!Figure'3!
displays!this!concept!clearly.!With!this!new!design,!former!risk!factors!which!had!
risen!from!the!conveyor!belt!mechanism!have!now!been!mitigated.!Due!to!the!light!
weight!of!the!E<chains,!each!sprocket!can!easily!rotate!on!its!axis.!!
!
Future'Work'
!
Now!that!the!Team!is!in!stage!two!in!the!feeder’s!development,!it!has!been!decided!
that! future! work! should! focus! on! the! development! and! testing! of! the! E<Chains.!
Though! the! conveyor! belt! mechanism! has! had! setbacks,! the! team! will! not!
completely!halt!its!development.!The!pulley!stocks!will!be!hollowed!out!to!provide!
lightweight!use!and!to!see!if!there!might!be!possibilities!to!enhance!the!E<Chain!in!
its! development.! The! Team! hopes! that! enhancement! will! further! increase! the!
success! rate! of! the! feeder.! Since! the! E<Chains! have! shown! promise,! the!
assembly/testing!phase!will!continue.!
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8. ! 8!
Sorting(System(
Method(of(Solution(
!
The!original!strategy!to!sort!between!the!three!balls!was!to!distinguish!them!by!size.!
This!idea!fell!through,!as!the!tennis!and!lacrosse!balls!happen!to!be!very!similar!in!
size! so! there! may! be! some! error! in! distinguishing! between! the! two.! The! second!
strategy!was!to!differentiate!the!balls!by!their!weights.!This!led!to!one!of!the!main!
components!of!the!sorting!system!being!purchased;!a!Force!Sensitive!Resistor!(FSR),!
which! is! essentially! a! circuit! whose! resistance! changes! when! an! applied! force! is!
increased!or!decreased.!The!FSR!is!accurate!enough!to!distinguish!between!all!three!
ball!types!when!the!system!is!under!static!conditions!and!can!withstand!a!load!of!up!
to!22lbs,!making!it!an!ideal!sensor!to!perform!the!task.!However!since!the!device!
will!be!moving!around!this!will!cause!the!balls!to!experience!dynamic!conditions.!
This!could!cause!errors!in!the!in!ball!detection!method,!so!the!team!then!decided!
that!there!needed!to!be!two!sorting!procedures!to!accurately!determine!what!ball!is!
in!the!sorter.!For!this!reason!an!Optical!Sensor!was!chosen!to!distinguish!the!balls!
by!size.!The!optical!sensor!is!placed!at!a!height!so!that!it!could!see!the!tennis!and!
lacrosse! ball,! but! not! the! tennis! ball.! Therefore! if! the! FSR! detects! weight! but! the!
optical!sensor!does!not!see!anything,!then!it!knows!that!there!is!a!golf!ball!present.!If!
the!FSR!detects!weight!and!the!optical!sensor!sees!a!ball,!then!there!can!either!be!a!
tennis!or!lacrosse!ball!in!the!sorter!and!will!be!distinguished!by!its!weight!signal.!!
!
The!structure!of!the!optical!sensor!is!quite!small!relative!to!the!project!itself,!having!
dimensions!of!.5”x.65”x.18”.!There!is!also!a!convenient!hole!made!for!mounting!the!
sensor! on! a! surface.! Protruding! from! the! rear! of! the! sensor! are! four! wires!
corresponding! to! power! (5V,! red),! ground! (black),! signal! (green),! and! another!
ground,!which!can!be!seen!in!Figure!4.!!This!first!wire!powers!an!infrared!emitter,!
and!the!signal!wire!receives!data!from!an!infrared!detector.!The!sensor!works!by!
producing!an!infrared!light!from!the!emitter,!and!if!an!object!
comes!close!to!the!emitter!it!will!reflect!some!of!the!infrared!
light!back!towards!the!detector.!The!closer!the!object!moves!
towards!the!sensor!the!stronger!the!signal!will!be.!It!should!
be!noted!that!the!optical!sensor!is!an!analog!device,!meaning!
that! the! signal! generated! by! the! sensors’! detector! can! have!
values! between! 0! (complete! reflection)! and! 1024! (no!
reflection).! Since! the! purpose! of! the! optical! sensor! is! to!
distinguish! between! a! golf! ball! and! the! tennis! and! lacrosse!
balls,!it!can!be!treated!as!a!digital!device.!By!this!it!is!meant!
that!it!will!have!either!one!of!two!values;!a!high!value!if!the!
golf!ball!or!no!ball!is!present!in!the!sorter,!and!a!low!value!if!
the!tennis!or!lacrosse!ball!are!present.!A!value!of!ranges!will!
be!chosen!for!both!scenarios!to!account!for!tolerance.!!
!
The!Force!Sensitive!Resistor!(FSR)!is!also!an!analog!device!and!is!not!much!smaller!
than! the! diameter! of! a! quarter.! It! only! requires! power! from! the! 5V! pin! on! the!
Figure'4'–'Optical'Sensor,'
Designed'in'Fritzing'

9. ! 9!
arduino!and!to!be!connected!to!both!its!ground!
and! an! analog! pin.! A! resistor! is! used! to! tie! the!
FSR! to! ground! and! the! difference! in! resistance!
between! the! analog! pin! and! ground! is! used! to!
determine! the! weight! of! the! balls.! A! picture! of!
the! FSR! can! be! seen! in! Figure! 5.' As! the! balls!
inside! the! sorter! will! experience! dynamic!
movement,!and!because!the!sensor!takes!a!brief!
period!of!time!to!‘settle’!on!a!value,!an!averaging!
algorithm! has! been! written! into! the! arduino!
code!with!a!‘check’!statement!in!order!to!insure!
proper!measurements!of!the!balls’!weight.!This!algorithm!can!be!seen!in!the!arduino!
code!located!in!the!appendix!of!this!report.!
!
Using! the! FSR! and! the! optical! sensor! together! allows! the! device! to! able! to!
distinguish!between!the!balls!easily,!as!the!balls!can!be!categorized!via!the!following!
way:!
!
Ball'Type' FSR'Value' Optical'Sensor'Value'
No!Ball! 0!–!200! >!800!
Golf!Ball! 200!–!400! >!800!
Tennis!Ball! 200!–!400! <!800!
Lacrosse!Ball! >!400! <!800!
!
In!order!to!‘tell’!the!sorter!which!ball!is!the!objective!ball,!the!‘square!button’!on!the!
PS3! (Sony! PlayStations! 3)! controller! can! be! pressed! and,! depending! how! many!
times!it!was!pressed,!it!will!sort!one!of!the!three!balls.!In!order!for!the!team!to!have!
visual! acknowledgement! that! the! device! will! sort! the! required! ball! there! will! be!
three! different! colored! LEDs! mounted! on! the! frame! of! the! device.! Each! LED! will!
correspond!to!a!particular!ball!and!will!light!up!if!the!sorter!is!looking!for!that!ball.!A!
circuit! diagram! of! the! sorting! system,! generated! with! the! use! of! the! Fritzing!
software,!can!be!seen!in'Figure!6.'
'
Figure'5'–'Force'Sensitive'Resistor'and'
10kΩ'Resistor'
Figure'6'–'Circuitry'for'Sorting'Component,'
Design'in'Fritizgn'

10. ! 10!
!
The!sorting!component!must!be!able!to!physically!move!the!balls!in!order!to!store!
the!objective!balls!and!discard!the!unwanted!ones.!A!small,!metal!geared,!and!high<
torque!servomotor!will!perform!this!movement.!Sold!by!Adafruit!this!micro!servo!
can!produce!up!to!30.5!oz.<in!of!torque!at!6V,!more!than!enough!to!move!a!lacrosse!
ball!at!a!distance!of!1!inch!away!from!the!servo.!The!servo!is!advertised!to!be!able!to!
move!between!0!and!180!degrees,!however!realistically!the!motor!can!only!operator!
between!15!to!165!degrees,!but!this!does!not!impact!the!sorting!process.!The!motor!
is! also! extremely! light! at! 13.4! grams! and! can! turn! as! fast! as! 60! degrees! in! .08!
seconds!when!unloaded.!One!important!fact!to!note!about!this!servo!is!that!it!will!
hold! its! position! when! there! is! no! signal! being! applied! which! was! a! key! feature!
when!writing!the!code!to!control!the!sorting!component.!A!sample!picture!of!the!
servo!can!be!seen!in!Figure!7.!i!
!
The! mechanical! structure! of! the! sorter! is! composed! of! three! different! pieces;! the!
main!frame,!a!movable!platform!(ball!palette),!and!a!claw.!The!frame!of!the!sorter!is!
designed! to! attach! to! the! front! of! the! storage! component! with! two! ¼”! machined!
screws!and!nuts.!The!frame!includes!mounting!points!for!the!servo!and!a!hinge!that!
will!assemble!the!frame!and!the!palette!together.!!The!frame!is!designed!so!that!all!
unwanted!balls!roll!down!a!ramp!and!off!the!side!of!the!device.!The!ramp!is!already!
integrated!into!the!sorter!frame!and!can!be!seen!in'Figure!8.!All!three!pieces!of!the!
sorter! will! be! 3D! printed! with! ABS! plastic! due! to! its! attractive! mechanical!
properties.!!
Figure'7'–'Image'of'Micro'Servo,'Exterior'and'Interior'

11. ! 11!
The! sorter! frame! was! designed! to! accommodate! all! three! ball! types! without!
jamming!or!entry!mishaps.!It!has!a!length!of!4.5!inches,!which!allows!for!enough!
space!to!house!a!lacrosse!ball!while!having!the!servomotor!in!place.!The!thickness!of!
the!sorter!is!.4!inches,!which!gives!its!structural!rigidity.!An!extruded!portion!in!the!
middle! of! the! frame! with! a! cut! out! silhouette! of! the! FSR! allows! for! a! perfect!
placement!of!the!sensor.!!
The!ball!palette!is!designed!to!attach!to!the!frame!with!the!addition!of!a!hinge!that!
allows!the!palette!to!move!down!when!a!ball!rolls!onto!it.!The!palette!has!a!‘foot’!
that!rests!on!the!FSR,!allowing!a!uniform!force!to!be!loaded!onto!the!FSR.!The!foot!
was!given!a!5<degree!angle!so!that!it!may!lay!flat!on!the!FSR.!!
The! sorter! claw! is! designed! to! be! wide! enough! to! allow! a! tennis! ball! in! and! will!
attach!directly!to!the!servomotor.!Currently!the!claw!is!only!a!pressure!fit!on!the!
servo!however!a!design!to!allow!the!claw!to!be!attached!with!a!setscrew!is!in!the!
works.!The!claw!also!has!a!cutout!on!the!top!to!allow!the!optical!sensor!to!be!placed!
at!the!ideal!height.!
The! final! cost! for! this! component! comes! in! at! $19.30.! This! is! because! all! the!
electrical!components!are!extremely!cheap!relative!to!some!of!the!other!materials!
needed!for!this!project,!and!3D!printing!is!free.!The!optical!sensor!was!also!a!free!
piece!as!it!was!repurposed!from!another!project.!The!total!budget!for!the!sorting!
component!can!be!seen!in!the!table!below.!!
!
Description' Price' Quantity' Total'Price'
FSR! $7.00! 1! $7.00!
Servo!Motor! $9.95! 1! $9.95!
Hinge! $1.25! 1! $1.25!
M2!Screws! $0.15! 4! $0.60!
¼”!Screws! $0.25! 2! $0.50!
ABS!Plastic! Free! 2!oz.! Free!
Optical!Sensor! Free! 1! Free!
LED! Free! 3! Free!
Total:'$19.30'
! !
Figure'8'–'Modeled'Sorting'Component.'Views'From'Left'to'Right:'Isometric,'Right''Side,'Back'

12. ! 12!
Future(Work(
!
For!the!sorting!system!of!the!machine,!the!future!work!includes!a!series!of!tests!that!
the!team!will!subject!to!the!sorter.!These!tests!will!be!meant!to!establish!that!all!ball!
types!can!enter!and!leave!the!sorter!without!it!jamming!or!improperly!sorting.!If!the!
balls!are!improperly!sorted,!the!first!cause!of!error!could!be!the!optical!sensor!since!
it!has!not!been!tested!in!different!light!conditions.!Therefore,!a!test!for!the!sorting!
component! will! be! to! see! how! the! optical! sensor! behaves! in! different! light!
conditions.! The! sorter’s! performance! will! also! be! tested! while! the! machine! is! in!
motion! once! the! movement,! storage,! and! feeding! systems! have! been! built! and!
assembled.!This!will!allow!the!team!to!oversee!how!the!ball!enters!the!sorter!from!
the!feeder!and!if!any!adjustments!will!be!needed.!Once!the!sorter!performs!correctly!
through!a!series!of!tests,!the!sorter!will!be!complete.!!
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13. ! 13!
Storage(System(
Method(of(Solution(
The!storage!system!is!the!last!step!in!the!flow!chart!of!the!machine!as!it!mainly!takes!
effect! at! the! end! of! the! sphere! harvesting! process.! The! system! is! responsible! for!
storing!all!collected!balls!and!depositing!them!into!the!basket!at!the!end!of!the!test!
run.!The!design!solution!to!the!storage!system!contains!three!basic!components:!a!
container,! a! revolving! door! and! a! scissor! lift.! See! Figure! 9! below! of! the! storage!
system.!
!
The!storage!container!is!shaped!as!a!parallelogram!and!made!out!of!ABS!plastic.!It!is!
to!be!manufactured!in!Link!Hall!using!a!3D!printer.!The!dimensions!of!the!container!
are!10”!long,!9”!wide,!6.87”!tall!at!the!front!and!6”!tall!at!the!rear.!The!walls!are!a!
quarter!inch!thick.!The!inside!volume!was!measured!to!be!475!in3.!The!container!
was! designed! to! have! a! volumetric! capacity! capable! of! storing! 25! tennis! balls,! as!
they!are!the!largest!type!of!ball!designated!for!pickup.!However,!due!to!the!space!
taken!up!by!the!sorting!mechanism,!some!of!the!volume!cannot!be!occupied!by!the!
balls.!The!inside!base!of!the!container!is!angled!at!five!degrees!and!there!is!a!flat,!
horizontal!false!floor!on!the!outside.!The!angled!interior!base!allows!the!balls!to!roll!
to!the!rear!of!the!container!by!means!of!gravity.!The!flat!floor!is!necessary!to!allow!
the!team!to!attach!a!scissor!lift!to!the!bottom!of!the!storage!container.!Being!that!the!
container! is! a! static! part! used! for! storing! balls,! it! requires! neither! electrical!
components! nor! motors.! Figure! 9! below! displays! a! side! view! of! the! storage!
container.!
'
While!the!storage!container’s!design!is!complete,!
minor! changes! may! still! be! made! to!
accommodate! the! feeder! and! sorting! system.! A!
prototype! of! the! storage! container! is! to! be! 3D!
printed!and!tested!during!the!week!of!March!7th.!
!
The!deposit!door!is!responsible!for!allowing!the!
balls!in!storage!to!exit!at!the!end!of!the!test!run.!
It!consists!of!the!door,!a!shaft,!two!bearings,!two!
sleeves,! two! collars,! a! servomotor,! a! door! arm!
and!a!set!screw.!The!door!is!8”!wide,!5.55”!tall!
and! 0.25”! thick,! but! contains! a! unique! round!
shape!at!the!top!with!a!0.25”!bore!hole!through!
it!for!the!shaft.!The!door!arm!is!0.3”!wide,!2”!tall!
and!0.125”!thick.!Both!are!to!be!3D!printed!using!
ABS!plastic.!The!deposit!door!is!to!rotate!open!
by!the!force!of!the!lightest!ball,!a!golf!ball.!The!
door!arm!keeps!the!deposit!door!closed!until!the!
machine!is!in!appropriate!position!to!deposit!the!
balls.!At!that!time!the!servomotor!will!rotate!the!
door!arm,!allowing!the!door!to!swing!open.!The!
Figure'9'C'Displays'the'storage'container,'
revolving'door'and'door'arm.'Not'pictured'is'the'
scissor'lift.'
Figure'10'C'Displays'the'five'degree'angle'of'the'
inside'base'as'well'as'the'false'floor.'

14. ! 14!
door! arm! is! positioned! at! the! center! of! the! deposit! door.! Figure! 11! displays! the!
deposit!door!and!arm.!
!
This! design! is! essentially! how! a! dump! truck! works.! The! deposit! door’s! design! is!
complete;!however!pending!the!results!of!a!prototype!test,!a!counterweight!may!be!
added!to!the!component.!The!counterweight!would!be!used!to!help!open!the!door!by!
creating!a!moment!on!the!door!about!the!axle.!The!counterweight!would!be!located!
at!the!upper!center!of!the!door’s!interior!and!be!attached!using!a!rod.!
!
There!will!also!be!a!need!for!a!mechanical!system!to!raise!the!storage!device!when!
depositing!the!balls!into!the!final!basket.!This!will!be!done!by!a!scissor!lift;!because!
of!the!dimensions!of!the!machine!and!the!deposition!basket,!the!scissor!lift!will!have!
to!raise!the!storage!component!9”!to!reach!the!height!of!the!basket.!Two!linkages!
with!links!of!6”!at!45!degree!angles!will!raise!the!storage!container!a!height!of!10”.!
Currently,! the! objective! is! to! drive! the! scissor! lift! with! a! lead! screw! through! the!
second! or! first! level! cross! axles! and! include! a! gear! train! to! increase! the! torque!
supplied!by!the!motor.!If!this!fails,!team!one!is!ready!to!purchase!and!use!a!linear!
actuator! instead.! The! storage! system! is! nearing! completion.! Going! forward,! the!
scissor!lift!poses!most!of!the!work.!!
!
( (
Figure'11'–'Left'(a):'Displays'the'deposit'door'on'an'axle'contained'by'two'collars,'sleeves,'and'
bearings.''
''''''''''''''''''''''''Right'(b):'Displays'the'door'arm'mounted'on'the'servomotor.'

15. ! 15!
Progress(Toward(Solution(
Since!the!time!of!the!last!proposal!the!storage!system!was!designed!as!a!square<like!
container,!possessing!a!door!that!rotated!about!one!of!the!corners!and!two!scissor!
lifts.!The!concept!was!very!clear:!to!have!a!container!that!stored!the!balls,!a!scissor!
lift(s)! that! lifted! the! container,! and! a! door! that! opened! to! deposit! the! balls.! The!
details!of!the!concept!were!very!raw!however!and!did!not!take!into!consideration!
potential!issues.!!Figure'12!below!displays!the!storage!system!from!the!last!design!
proposal.!
!
The!container’s!dimensions!at!the!time!were!7”!long,!7”!tall,!8”!wide!in!the!front!and!
7.05”!wide!in!the!rear.!The!sides!were!angled!inward!at!the!rear!to!promote!the!balls!
to!roll!towards!the!center.!While!the!container!technically!enclosed!enough!inside!
volume!to!carry!25!tennis!balls,!it!did!not!account!for!the!space!between!balls!or!the!
sorting!mechanism.!As!a!result!the!container’s!dimensions!were!adjusted!and!made!
larger.!To!eliminate!the!need!for!angled!sides,!the!entire!rear!surface!was!removed!
completely! so! the! balls! could! roll! out! freely.! This! made! the! container! more!
rectangular!in!shape.!The!container!was!to!be!made!out!of!aluminum!initially,!but!
with!research!team!one!learned!that!ABS!plastic!was!more!than!suitable.!With!the!
3D!printers!in!Link!Hall!the!container!can!be!manufactured!as!one!solid!piece.!This!
will!reduce!the!cost!of!the!project!significantly!and!eliminate!the!need!to!assemble!
any!sides!to!one!another.!
!
The!deposit!door!underwent!significant!remodeling!since!the!time!of!the!last!design!
proposal.!The!original!door!contained!the!dimensions!of!6.5”!wide,!6.5”!tall!and!1/8”!
thick!and!was!to!rotate!about!an!axle!at!the!top!left!corner!of!the!container.!This!can!
also!be!seen!in!Figure'12!below.!A!latch!was!to!be!located!at!the!bottom!left!of!the!
container.!This!design!of!the!door!put!a!lot!of!stress!on!the!axle!rotating!the!door.!
Furthermore,!the!weight!of!25!lacrosse!balls!put!a!lot!of!force!on!the!bottom!right!
part!of!the!door!causing!torsion.!The!initial!door!required!another!motor!as!well.!
The!most!recent!design!of!the!door!does!not!require!any!power.!Instead,!the!force!of!
Figure'12'C'Displays'the'last'storage'container'and'deposit'door.'Not'
pictured'are'the'scissor'jacks.'
'

16. ! 16!
the!smallest!ball!does!the!work!for!the!door.!The!new!door!is!much!more!efficient!
and!eliminated!the!risk!of!failure.!
!
The! concept! of! the! scissor! lift! has! changed! as! well,! though! not! by! much.! In! the!
storage! system! at! the! time! of! the! last! proposal,! the! system! was! to! possess! two!
scissor!lifts,!one!smaller!and!one!larger.!The!larger!scissor!lift!was!located!in!the!
front!of!the!machine,!while!the!smaller!scissor!lift!was!located!in!the!rear.!To!avoid!
having! two! different! sized! scissor! lifts! for! raising! the! storage! container! to! the!
required! height,! the! team! added! a! false! floor! to! the! base! of! the! container,! while!
maintaining!a!sloped!floor!on!the!inside.!This!false!floor!gave!a!flat!surface!for!the!
scissor!lifts!to!sit!equally!on,!eliminating!the!need!for!two!different!sized!lifts.!The!
team!also!decided!that!one!scissor!lift!was!sufficient!to!lift!the!rest!of!the!system.!
This! was! useful! in! obtaining! more! space! for! a! lead! screw! and! motor! or! linear!
actuator.!
(
Future(Work(
With!the!storage!container!and!door!completely!designed,!the!majority!of!the!work!
going!forward!for!the!storage!system!involves!the!scissor!lift.!The!scissor!lift!is!in!the!
process!of!being!designed!but!still!requires!several!steps!before!completion.!First,!a!
definitive!choice!needs!to!be!made!on!whether!a!linear!actuator!or!lead!screw!will!
be!used!to!raise!the!scissor!lift.!While!the!linear!actuator!will!ensure!that!the!scissor!
lift!has!no!issues!lifting!the!load,!it!is!more!costly!and!requires!more!space.!The!lead!
screw,! however,! requires! much! more! design! work! in! regards! to! the! pitch! of! the!
threads,!ratio!of!the!gears,!and!choice!of!a!motor.!As!a!result!several!calculations!will!
need!to!be!completed!to!ensure!that!the!scissor!lift!can!lift!the!required!load.!Second,!
the! scissor! lift! will! need! to! be! completely! 3D! modeled! on! SolidWorks! to! give! the!
team!a!visual!representation!and!allow!the!team!to!determine!how!the!scissor!lift!
will!attach!to!the!movement!frame!and!storage!container.!This!will!enable!the!team!
to! foresee! any! potential! issues! and! make! changes! before! manufacturing.! With! a!
properly!dimensioned!model!the!drawing!can!then!be!referenced!for!manufacturing.!
Last,! a! working! prototype! of! the! scissor! lift! will! need! to! be! developed! and! built!
through!the!use!of!the!machine!shop.!Many!components!such!as!the!links!will!be!3D!
printed!using!ABS!plastic.!Other!components!will!be!made!out!of!aluminum!and!will!
require!machining.!While!future!work!of!the!storage!system!predominantly!involves!
the! scissor! lift,! adjustments! to! the! storage! container! and! depositing! door! will! be!
made!going!forward!where!seen!fit.!One!adjustment!team!one!is!considering!is!the!
application!of!a!counterweight!on!the!inside!of!the!deposit!door.!The!counterweight!
would! add! a! moment! to! the! door,! allowing! it! to! open! with! ease.! It! would! be! 3D!
printed!as!a!rod!that!weight!could!be!attached!to!at!the!end.!More!adjustments!will!
arise!during!testing.!
( (

17. ! 17!
Movement(System(
Method(of(Solution((
The! purpose! of! the! movement! system! is! to! translate! the! analog! signal! from! the!
PlayStation! remote! into! torque! that! will! provide! movement! for! the! machine.! It!
consists!of!the!framework!that!provides!structure!to!its!components,!the!drive!axles!
that!translate!the!torque!from!the!motor!into!the!rotational!motion!of!the!sprockets!
and!the!idler!axles!that!allow!for!free!rotation!of!the!sprockets!not!connected!to!the!
drivetrain.!In!addition,!it!also!consists!of!the!wheels!that!will!distribute!the!device’s!
weight,!the!treads!that!provide!the!traction!against!the!ground!and!the!motors!that!
will!convert!electrical!energy!into!mechanical!energy.!!
The$fundamental$dimensions$of$the$movement$frame$are$11$inches$long,$7$inches$wide,$
and$2$inches$tall$with$a$thickness$of$0.3$inches.$The$next$step$to$designing$this$frame$
was$to$consider$the$hole$locations/placements$for$the$drive$axle,$idler,$and$load$bearing$
wheels.$One$thing$that$the$team$had$to$take$into$consideration$was$the$fact$that$the$
components$are$not$all$of$equal$diameter.$For$example$the$wheels$of$the$system$are$
exactly$ 2$ inches$ in$ diameter$ whereas$ the$ front$ and$ rear$ sprocket$ diameters$ are$
approximately$1.8$inches$and$1.9$inches$in$diameter$respectively.$Thus,$not$only$did$the$
team$have$to$take$the$horizontal$placement$of$the$holes$into$consideration,$but$also$the$
vertical$ placement$ so$ that$ the$ treads$ are$ completely$ level$ when$ in$ contact$ with$ the$
ground.$
$
As!is!depicted!in(figure!13,!the!outermost!
holes!are!bigger!than!the!two!inner!holes!
although!they!all!will!support!a!¼”!inch!
shaft.!(The!holes!follow!the!same!pattern!
on!the!interior!wall!as!well).!The!reason!
behind!this!is!that!the!larger!holes!will!
have!a!bearing!resting!within!the!wall.!
This!was!made!possible!by!designing!the!
hole!to!be!slightly!thinner!than!the!
thickness!of!the!wall,!and!not!extruding!
the!cut!all!the!way!through!the!material.!
This!hole!was!carefully!designed!to!that!
it!not!only!gives!the!bearing!somewhere!
to!rest,!but!is!also!designed!in!a!fashion!
to!minimize!friction!so!that!the!wall!does!
not!interfere!with!the!inner!race!of!the!
bearing.!Another!important!design!
feature!was!the!double!wall.!The!second!
wall!induces!a!counter<moment!on!the!
axle!that!offsets!the!moment!induced!
from!bearing!the!load!of!the!machine.!
$
Figure!13!<!Movement!Frame!
Figure!14!<!Drive/Idler!Axles!

18. ! 18!
The$ overall$ system$ has$ two$ drive$ axles$ and$ two$ idler$ axles.$ Each$ of$ these$ axles$ are$
identical,$ except$ each$ drive$ axle$ will$ have$ a$ motor.$ As$ depicted$ in( Figure$ ,( each$ axle$
consists$of$a$set$screw$collar,$one$sleeve,$two$bearings,$and$a$hub.$The$purpose$of$the$
set$screw$collar$is$to$hold$all$the$components$in$place$and$to$allow$the$axle$to$rotate$in$
tandem$with$the$sprockets.$In$addition,$it$prevents$any$of$the$components$from$sliding$
off$the$rod.$The$sleeve,$which$was$uniquely$designed$by$the$team$essentially$serves$as$a$
spacer$between$the$collar$and$the$bearing.$The$sleeve$is$the$same$diameter$as$the$inner$
race$of$the$bearing,$thus$minimizing$any$friction$between$the$two$pieces.$(the$set$screw$
collar$and$the$bearing)$The$rightmost$piece$in$Figure$14$is$the$unique$hub$design$that$the$
team$ created$ for$ the$ sprockets.( The$ purpose$ of$ the$ hubs$ is$ to$ keep$ each$ pair$ of$
sprockets$aligned$with$one$another.$It$is$also$efficient$because$the$thickness$of$the$hub$
is$equal$to$the$distance$at$which$each$
sprocket$ needs$ to$ be$ in$ order$ to$
mesh$ with$ the$ chain.$ Another$ key$
feature$ of$ the$ hub$ is$ that$ it$ has$ a$
small$hole$fit$to$mesh$with$the$hole$
on$ the$ shaft.$ A$ small$ screw$ will$ be$
inserted$ through$ the$ two$ holes$ so$
that$ the$ shaft$ won’t$ rotate$ freely$
within$ the$ hub.$ The$ hub$ also$ has$ a$
builtOin$ sleeve$ design$ that$ rests$ on$
the$ inner$ race$ of$ the$ adjacent$
bearing;$ this$ way,$ there$ won’t$ be$
friction$between$the$outer$race$of$the$
bearing$and$the$hub.$Another$feature$
to$be$noted$is$the$squareOlike$ridges$
on$the$hub.$The$sprockets$that$will$be$
used$in$the$movement$system$do$not$
have$ smooth,$ circular$ insides$ but$
rather$have$these$squareOlike$ridges.$
These$ ridges$ are$ extremely$ intricate$
and$ require$ complex$ tools$ to$ be$
measured$ accurately.$ Fortunately,$
Team$One$was$able$to$find$this$pattern$through$an$online$source,$and$thus$applied$it$to$
the$circular$part$of$the$hub$design.$$
$
The$wheel$axles$are$very$close$in$design$to$the$drive/idler$axles.$Shown$in$Figure$15,$each$
wheel$axle$will$have$set$screw$collars,$two$sleeves,$two$bearing$caps,$a$bearing,$and$a$
wheel$that$supports$up$to$15$pounds$each.$The$purpose$of$the$set$screw$collars$on$each$
end$is$to$hold$the$pieces$in$place$on$the$axle.$In$particular,$they$disable$any$pieces$from$
moving$left$or$right$and$off$the$shaft.$The$sleeves$will$rest$on$the$set$screw$collars$and$
will$also$rest$on$the$inner$race$of$the$bearing$that$will$be$placed$within$the$hole$of$the$
wheel.$The$team$also$designed$bearing$caps$depicted$in$Figure$16$which$as$the$name$
Figure!15!<!Wheel/Support!Axles!
Figure!16!<!Wheel/Support!Axles!(Isometric!View)!

19. ! 19!
suggests,$ will$ hold$ the$ bearing$ into$
place.$Screws$will$be$placed$to$fasten$
the$two$hub$caps$(one$on$each$side$of$
the$wheel)$and$will$keep$the$bearing$
fixed.$$
$
Figure$ 17$ is$ an$ assembly$ of$ all$ of$ the$
movement$ components$ mentioned$
thus$ far.$ Though$ the$ fundamental$
pieces$ are$ shown,$ there$ is$ still$ room$
to$ add$ more$ detail$ to$ the$ assembly$
which$include$adding$the$sprockets$onto$the$hubs,$as$well$as$adding$the$tread$to$the$
sides$of$the$frame.$$
$ $
Another$major$component$to$the$movement$system$are$the$motors$that$will$drive$the$
system.$As$the$Team$was$purchasing$the$motors,$there$were$a$few$factors$that$were$
considered:$the$amount$of$torque$and$stall$torque,$the$voltage$the$system$requires$and$
the$amperage$that$it$draws$at$its$stall$torque.$To$be$specific,$the$team$will$be$purchasing$
the$“Planetary$Gear$Motor$PGHMO01”(from$robotshop.com.$At$normal$operating$load,$it$
will$have$a$torque$of$15.55$ozOin.$The$stall$torque$for$this$motor$is$111$ozOin.$This$means$
that$each$motor$can$apply$7$lbOin$of$torque$or$a$maximum$of$14$lbOin$of$torque$since$
there$will$be$two$motors.$Since$the$radius$of$the$drive$pulley$is$an$inch,$and$the$machine$
will$fall$between$2O14$lbs,$it$is$clear$to$see$that$the$motor$will$suffice$in$this$regard.$It$is$
also$ important$ to$ know$ the$ amount$ of$ amps$ the$ motor$ will$ draw.$ At$ no$ load,$ it’s$
drawing$.16$Amps.$At$stalling$load,$it$draws$.467$amps$(or$467$mA).$The$amperage$being$
drawn$is$a$crucial$aspect$since$power$supply$can$only$deliver$1O2$amps,$and$the$Arduino$
itself$can$only$support$1O2$amps.$Anything$beyond$that$can$overheat$the$battery.$The$
motor$ also$ requires$ 12$ VDC$ (volt$ direct$ current).$ This$ needed$ to$ be$ 12$ because$ the$
Arduino$ can$ only$ handle$ 12$ volts.$ If$ this$ value$ was$ more$ than$ 12,$ this$ voltage$ could$
possibly$fry$something$on$the$microchips.$This$motor$is$also$compatible$with$the$12$volt$
battery$supply.$At$$27.71$each,$and$at$the$available$specifications$of$these$motors,$the$
Team$believes$that$the$motors$will$work$great$with$the$movement$system.$$
$
Progress(toward(solution(((
The$team$has$made$tremendous$progress$toward$the$solution$since$Gate$1.$At$the$time,$
one$ major$ concern$ was$ that$ the$ movement$ system$ would$ simply$ be$ too$ heavy$ in$
comparison$to$the$rest$of$the$machine.$One$mitigation$that$the$team$devised$was$to$go$
back$ to$ the$ drawing$ board$ and$ make$ changes$ to$ the$ current$ design.$ Some$ changes$
would$ include$ making$ the$ machine$ lighter,$ by$ using$ different$ material$ for$ different$
components.$ Another$ mitigation$ was$ to$ use$ high$ strength$ sprockets$ and$ chains$ that$
could$help$avoid$the$problem$of$the$system$not$moving.$As$stated$in$the$team’s$risk$
analysis,$not$only$do$high$strength$sprockets$and$chains$allow$for$higher$loads$to$be$
transmitted$ across$ long$ distances,$ but$ they$ can$ also$ withstand$ higher$ stresses.$
Figure!17!<!Movement!System!

20. ! 20!
Eventually,$ Team$ One$ ultimately$
eliminated$ the$ problem$ as$ a$ whole$
by$ changing$ the$ material$ of$ the$
treads.$ To$ specify,$ instead$ of$ using$
components$ made$ of$ plastic$ (such$
as$ acetal$ in$ which$ the$ vex$ robotics$
components$are$made$of),$the$team$
deviated$ to$ sprockets$ and$ chains$
found$ on$ bikes$ that$ are$ naturally$
designed$ to$ withstand$ very$ heavy$
loads.$Because$of$the$aspects$listed$
above,$ the$ team$ continued$ to$
perform$research$on$different$ways$
in$ which$ tank$ treads$ could$ be$ built$
at$ home.$ The$ first$ of$ this$ type$ is$
exhibited$ in$ Figure$ 18.( This$ design,$
found$ on$ instructables.com$
essentially$did$the$job.$It$is$an$easy,$
do$ it$ yourself$ approach$ that$
according$ to$ individuals$ that$ built$
this,$was$quite$affordable.$The$basic$
idea$behind$this$design$is$to$cut$pvc$
tube$ in$ half$ and$ to$ drill$ a$ screw$ in$
the$spaces$between$the$bike$chains.$
This$ screw$ is$ what$ connects$ each$
chain$ to$ the$ pvc$ tube.$ However,$
there$were$a$few$reasons$as$to$why$
this$was$ultimately$not$suitable$for$Team$One.$For$instance,$the$group$had$intentions$on$
using$ sprockets;$ this$ design$ would$ not$ be$ ideal$ since$ the$ screws$ would$ block$ the$
sprockets$from$meshing$properly$with$the$chain.$In$addition,$further$research$indicated$
that$several$users$had$difficulties$with$gaining$traction$from$the$PVC$tube.$This$led$Team$
One$ back$ to$ the$ drawing$ table$ and$ closer$ to$ a$ concrete$ design$ for$ the$ movement$
component$of$the$system.$This$idea,$(Figure$19)$found$on$rctankcombat.com$involves$the$
use$ of$ a$ key$ component,$ bike$ chains$ with$ the$ pins$ removed.$ Essentially,$ a$ bolt$ will$
connect$ from$ the$ hole$ in$ the$ first$ bike$ chain,$ run$ through$ the$ piece$ of$ rubber$ hose,$
through$the$hole$to$the$next$bike$chain,$and$will$finish$with$a$nut$cap$on$the$end$to$hold$
all$components$in$place.$The$rubber$hose$will$be$replacing$the$PVC$tube$from$the$initial$
design.$Not$only$did$this$solve$the$problem$of$traction,$but$it$also$allows$for$sprockets$
and$wheels$to$be$used$in$the$system.$At$the$time,$the$Team$knew$that$each$tread$would$
have$four$sprockets,$two$in$the$front$and$two$in$the$rear.$It$was$also$known$that$the$
team$would$need$to$create$face$plates$to$create$a$hole$with$a$smaller$diameter$that$will$
allow$for$the$axles$to$be$placed$on.$It$was$also$known$that$there$would$be$wheels$that$
would$ distribute$ and$ support$ the$ weight$ of$ the$ system,$ and$ would$ be$ attached$ to$ a$
vertical$ beam$ that$ will$ allow$ for$ the$ wheels$ to$ move$ horizontally,$ from$ left$ to$ right.$
Figure!18!<!Tread!Design!1!
Figure!19!<!Tread!Design!2!
!

21. ! 21!
Though$ the$ team$ had$ a$ great$ layout$ planned$ for$ the$ movement$ system,$ these$ ideas$
didn’t$give$great$detail$in$how$all$the$components$would$be$assembled$compared$to$the$
designs$that$the$team$now$has.$One$thing$that$will$essentially$remain$the$same$will$be$
the$tread$design.$The$team$will$still$use$the$rubber$hose,$bike$chain,$and$machine$screw$
mechanism$from$rctankcombat.com.$$
$
The$ team$ also$ created$ a$ prototype$ shown$ in$ Figure$ 20$ over$ winter$ break.$ Although$
several$changes$were$made$to$the$design,$it$was$beneficial$in$that$it$gave$the$team$a$
solid$visual$representation$to$work$with.$The$prototype$was$made$using$plywood,$and$
some$basic$tools$found$at$home$which$
include$ a$ hand$ saw,$ a$ drill,$ and$ some$
sandpaper.$ The$ main$ components$ to$
the$track$are$the$sprockets,$the$wheels$
(represented$ by$ the$ two$ wooden$
circles),$the$larger$plate,$and$a$smaller$
outer$ plate.$ Each$ sprocket$ has$ a$
wooden$faceOplate.$Their$purpose$it$to$
create$a$method$for$the$¼”$shaft$to$be$
mounted$ since$ the$ sprockets$ have$ a$
large$ inner$ hole.$ The$ wooden$ wheels,$
appropriate$in$diameter$to$the$wheels$
that$ would$ be$ purchased$ are$ placed$
lower$(in$reference$to$the$sprockets)$so$
that$ they$ would$ be$ the$ main$
components$ to$ support$ the$ overall$
weight$ of$ the$ system.$ The$ storage$
component$for$the$balls$would$rest$on$
top$of$the$largeOinner$plates.$It$is$to$be$
noted$that$there$would$be$two$of$these$
plates,$ parallel$ to$ each$ other$ that$
would$ form$ part$ of$ the$ overall$
framework$ for$ the$ system.$ The$ small$
outer$ plate$ provides$ the$ system$ with$
extra$support.$Three$of$the$shafts$have$
an$axle$cap$nut$on$the$end$to$prevent$
the$shaft$from$sliding$left$to$right.$One$
of$the$shafts$were$left$without$an$axle$
cap$nut$on$an$end$because$that$is$where$the$motor$would$be$located.$$Due$to$limited$
funds,$ there$ were$ essential$ components$ excluded$ from$ this$ prototype$ which$ include$
bearings,$shaft$collars,$and$appropriate$beams,$and$standoffs$to$mount$the$wheels.$One$
of$the$main$issues$with$the$prototype$was$that$it$was$too$big$in$width$and$length;$it$
would$ interfere$ too$ much$ with$ the$ other$ components$ of$ the$ machine$ and$ leave$ less$
room$to$meet$the$size$constraints.$Although$it$was$not$as$big$of$an$issue$as$the$width,$
the$tread$was$also$unnecessarily$tall.$Once$the$team$decided$to$get$smaller$wheels,$the$
Figure!20!<!Movement!Prototype!

22. ! 22!
wheels$ could$ raise$ up$ and$ almost$ be$ at$ the$ same$ level$ as$ the$ sprockets.$ This$ would$
ultimately$decrease$the$height$of$the$tread.$In$the$end,$the$team$was$able$to$cut$down$
the$size$of$the$tread$tremendously.$This$was$accomplished$by$using$smaller$wheels$as$
stated,$ using$ smaller$ sprockets$ that$ decreased$ about$ an$ inch$ in$ diameter,$ and$
decreasing$the$width$of$the$actual$tread(from$3$½$inches$to$less$than$1$inch.$$
(
Future(Work((
Though$so$much$progress$has$been$made,$there$is$still$much$to$be$done$in$the$upcoming$
weeks$ for$ the$ movement$ system.$ The$ team$ has$ completed$ approximately$ three$
quarters$ of$ the$ work$ required$ to$ complete$ this$ subOsystem,$ with$ the$ major$ task$
remaining$being$the$assembly$of$the$components$into$a$working$prototype.$Although$
Team$ One$ has$ a$ SolidWorks$ assembly,$ the$ team$ knows$ that$ when$ it$ comes$ time$ to$
assemble,$things$might$not$fit$exactly$as$depicted$in$the$3D$model.$In$addition,$the$team$
must$also$figure$out$the$best$way$to$mount$the$motor.$The$team$must$determine$if$it$is$
best$to$place$the$motor$on$the$ends$of$the$drive$axles,$or$to$place$the$motor$on$its$own$
axle$and$create$a$gear$train.$If$so,$this$means$that$the$movement$frame$will$have$to$be$
slightly$ adjusted$ as$ well.$ Another$ adjustment$ that$ might$ need$ to$ be$ made$ to$ the$
movement$frame$is$the$double$wall.$Although$it$provides$extra$support,$it$might$create$
difficulties$in$terms$of$adding$critical$pieces$in$between$the$two$walls$since$there$will$be$
little$space$for$a$hand$to$fit$and$actually$implement$said$pieces.$One$final$aspect$the$
team$will$need$to$work$on$is$to$finish$assembling$the$bike$chain.$Although$it$is$a$fairly$
simple$design,$the$work$is$quite$tedious$and$will$require$at$least$a$couple$of$hours$of$
labor$to$be$complete.$In$particular,$removing$the$pins$from$every$single$hole$in$the$bike$
chain$will$take$time,$as$well$as$cutting$the$rubber$hose$into$several$pieces.$$
$
$
( (

23. ! 23!
!
Controls'
Method'of'Solution''
The! controls! sub<system! of! the! design!
solution! consists! of! the! hardware! and!
software!that!allows!the!team!member!to!
manually! control! machine’s! operations.!
The! processes! that! must! be! controlled!
manually! include! the! individual!
movement!of!each!tread,!the!designation!
of! the! objective! ball,! the! raising! and!
lowering!of!the!storage!compartment,!the!
opening! and! closing! of! the! door! at! the!
back!of!the!storage!compartment,!and!the!
rotation! of! the! feeder! component.! The!
processing! and! movement! done! by! the!
sorter! component! are! dictated! by! the!
content! of! the! code! being! processed! by!
the! Arduino! Uno! software.! Three!
additional!circuit!boards!each!serving!an!
individual!function!are!stacked!on!top!of!
the! Arduino! board! resulting! in! a! single!
multi<layered! module! (Figure! 21)! that!
serves!as!an!interface!for!the!signals!sent!
between! all! the! electronic! components!
within!the!machine.!!
!
The! Arduino! layer! (Figure! 22)! draws!
current! from! a! power! source! and! then!
distributes! the! signal! to! the! various!
hardware! connected! to! the! digital! and!
analog!pins!on!the!board!according!to!the!
uploaded! code! and! the! manual! input!
from!the!operator.!!
!
One! such! function! of! this! software! is! to!
send! a! signal! to! the! servo! motor!
connected! to! the! sorter! resulting! in! the!
ball!in!the!sorter!to!be!stored!or!rejected!
based! on! the! feedback! signals! from! the!
optical!sensor!and!the!FSR.!The!software!
is!also!designed!to!direct!a!signal!to!the!
motors! driving! the! treads! based! on! the! bluetooth! signal! received! from! the!
Figure!21!<!Assembled!Control!Module!
Figure!22!<!Arduino!
Figure!23!–!Proto<Shield!

24. ! 24!
Playstation!controller.!A!proto<shield!(Figure!23)!is!stacked!on!top!of!the!Arduino!
board.! This! layer! is! where! the! external! electrical! components! such! as! the! optical!
sensor!and!the!FSR!are!directly!wired!to!provide!power!to!these!components!and!to!
receive!the!necessary!feedback!from!them.!!
!
The!next!layer!is!the!motor!shield!(Figure!24).!All!six!of!the!machines!motors!are!
directly!wired!to!this!board!in!order!to!receive!a!current!of!up!to!two!amps!based!on!
the! signals! received! from! the! bluetooth! controller.! The! motors! include! one! servo!
motor!for!the!sorter,!one!servo!motor!for!the!storage!door,!one!DC!motor!for!each!
tread,! one! DC! motor! for! the! feeder! and! one! DC! motor! for! raising! the! storage!
compartment.!!!
!
!The! final! layer! is! the! Bluetooth! shield! (Figure! 25)! where! the! wireless! Bluetooth!
receiver! is! directly! connected.! This! component!
receives! signals! from! the! Playstation! controller!
based! on! the! manual! input! from! the! user.! The!
circuit! board! can! also! handle! a! direct! wire!
connection! from! the! Playstation! controller! in!
case! of! interference! issues! with! the! wireless!
connection.!!
!
The!power!source!chosen!is!a!rechargeable!12V!
Lithium<ion!battery!which!also!connects!directly!
to! the! multi<layer! module.! This! particular!
battery! provides! a! 20,000mAh! supply! current!
and!a!1<2A!output!current[i].!This!battery,!along!
with!the!control!module!and!the!motors!for!each!
tread,! will! be! stored! underneath! the! storage!
component!within!the!base!of!the!device.!
The!code!uploaded!to!the!Arduino!carries!out!its!
operations! in! a! loop<based! fashion.! The! loop! is!
prefaced! by! a! startup! function! that! runs! once!
when! the! PS3! controller! is! connected! to! the!
module! either! directly! or! via! Bluetooth.! The!
main! loop! then! consists! of! four! separate!
functions!each!designed!to!control!an!individual!
sub<system.! The! movement! control! function! is!
designed!to!receive!an!analog!signal!from!the!left!
stick! on! the! PS3! controller.! Pushing! the! stick! relatively! harder! will! translate! to!
higher! analog! values! resulting! in! an! increased! voltage! supplied! to! the! motors,!
therefore!increasing!the!speed!of!the!motor.!The!feeder!control!function!analyses!
the!digital!signals!sent!by!the!“R1”!and!L1”!buttons!on!the!controller.!Tapping!“R1”!
once! will! rotate! the! feeder! forward! while! tapping! it! again! will! stop! the! feeder!
motion.! Tapping! “L1”! rotates! the! feeder! in! the! opposite! direction.! This! was!
integrated!into!the!code!in!case!a!ball!gets!stuck!in!the!feeder/sorter!interface.!The!
sorter!control!function!receives!the!digital!signal!from!pressing!the!“Square”!button!
Figure!24!–!Motor!Shield!
Figure!25!–!Bluetooth!Shield!

25. ! 25!
and!outputs!a!signal!to!one!of!three!LED!lights!each!time!it!is!pressed.!Each!light!
corresponds!to!a!single!ball!type!and!the!operator!will!press!the!“Square”!button!
until! the! light! representing! the! desired! ball! is! illuminated.! The! storage! control!
function! responds! to! the! digital! signal! produced! by! pressing! the! “Circle”! button.!
Pressing!the!button!once!causes!the!motor!driving!the!scissor!jacks!to!rotate.!One!
press!raises!the!scissor!jacks,!a!second!press!stops!the!motor,!a!third!press!lowers!
the!scissor!jacks!and!a!fourth!press!stops!the!motor!again.!Pressing!the!button!again!
after!this!will!start!the!process!over!again.!
!
Progress'Toward'Solution''
At!the!time!of!the!last!update,!the!control!hardware!had!already!been!mapped!out!
and!the!corresponding!code!had!been!written.!The!progress!since!then!has!involved!
ordering!motors!and!testing!the!capability!of!this!hardware!to!drive!the!prospective!
machine.! For! example,! the! team! already! has! access! to! a! servo! motor! that! was!
designed! to! drive! the! feeder! system.! After! testing! the! interaction! between! these!
components,!it!was!discovered!that!this!particular!motor!could!not!provide!enough!
torque!to!rotate!the!heavy!pulley!stocks!being!used.!This!development!meant!that!
either!the!feeder!system!needed!to!be!redesigned!or!that!a!more!powerful!motor!
needed!to!be!purchased.!Both!possibilities!are!currently!being!explored!while!the!
team! also! tests! the! interactions! between! the! hardware! and! the! rest! of! the! major!
components!as!well.!
Future'Work''
Though!the!code!has!been!written,!we!will!not!know!how!the!physical!system!will!
carry!out!its!functions!until!a!fully!functional!prototype!of!each!major!component!is!
available!for!testing.!As!previously!stated,!a!motor!has!been!tested!for!driving!the!
feeder! system.! Similar! tests! will! need! to! be! carried! out! for! the! sorting! system,!
storage!compartment!and!the!movement!system.!Once!all!the!motors!have!proven!to!
have!the!capability!to!drive!the!corresponding!components,!the!code!must!be!tested!
against! the! entire! machine.! Once! a! complete! prototype! has! been! constructed! the!
team! can! input! commands! via! Bluetooth! signal! to! ensure! that! these! commands!
produce!the!expected!resulting!actions.!
' '

26. ! 26!
Materials'
Method'of'Solution''
Depending!on!the!design!of!each!individual!sub<system!within!the!machine,!a!frame!
must!be!constructed!in!order!to!interconnect!each!component!of!the!overall!design!
and!to!house!the!hardware!involved!in!its!operation.!The!main!things!to!focus!on!
when! designing! the! frame! are! keeping! the! machine! within! the! specified! size!
constraints! and! optimizing! the! relationship! of! the! materials! strength! and! weight!
versus! its! cost.! The! frame! must! be! able! to! support! the! maximum! possible! load!
carried! by! the! machine! while! also! being! light! enough! not! to! weigh! down! the!
machine! and! cheap! enough! to! keep! the! project! within! the! budget.! The! material!
chosen!will!be!used!to!construct!the!framework!of!the!feeder,!the!base!supporting!
the! movement! components! and! the! walls,! floor! and! door! making! up! the! storage!
component.!
Progress'Toward'Solution''
At!the!time!of!the!last!update,!the!team!planned!on!using!aluminum!alloy!sheet!to!
construct! the! major! framework! of! the! machine! and! the! individual! framework! its!
components.!After!doing!some!research!however,!Acrylonitrile!Butadiene!Styrene!
(ABS)!was!determined!to!be!a!cheaper!alternative!to!aluminum!while!still!meeting!
the!demands!of!this!particular!project.!Most!parts!can!therefore!be!3D<printed!with!
ABS!filament!for!little<to<no!cost!utilizing!student!privileges!at!Syracuse!University.!
ABS!boasts!a!modulus!of!elasticity!of!310,000!psi,!a!compressive!strength!of!7,650!
psi,!a!tensile!strength!at!yield!of!6,100!psi!and!a!density!of!about!0.0376!lb/in³.[ii]!
!
The! major! framework! of! the! machine! is! also! no! longer! being! considered! an!
individual!component!of!the!machine!like!the!feeder!system,!the!sorting!system,!etc.!
The!frame!is!being!co<dependently!designed!with!the!movement!system!to!ensure!
structural!integrity!and!simplicity.!All!other!major!components!will!be!mounted!to!
this!frame!and!all!necessary!hardware!will!be!housed!inside.!Therefore,!all!relevant!
information!concerning!the!design!of!the!framework!can!be!found!in!the!sections!of!
this!report!regarding!the!design!of!the!movement!system.!
!
Future'Work''
The! next! step! involving! the! materials! chosen! is! to! take! the! raw! material! and!
integrate! it! into! the! overall! design.! This! process! entails! ordering! the! material,!
machining! the! material! according! to! the! design! dimensions,! testing! each! piece’s!
structural! integrity! while! in! their! designated! positions! and! finally! mounting! all!
hardware!and!components!onto!the!material.!
!
!
!
!
! !

27. ! 27!
Economic(Analysis(
!
The!budget!for!the!team’s!project!was!$250.00!that!was!provided!by!the!College!of!
Engineering.!Any!additional!required!money!will!must!come!out!of!the!teams!assets.!
Team!one!decided!that!they!would!pay!for!the!entire!project!out!of!pocket!so!that!
they! could! claim! ownership! of! any! parts! used! in! the! project! after! completion,!
however!based!on!the!guidelines!the!team!wanted!to!stick!to!spending!$250.00!or!
under! if! possible.! With! this! in! mind! the! team! started! researching! ways! to! save!
money!where!possible!so!that!more!money!could!be!spent!on!better!components!
that!will!lead!to!a!better!performing!machine.!The!full!budget!spreadsheet!can!be!
seen!in!the!appendix!of!this!report.!
!
One!of!the!biggest!places!the!team!saved!money!was!for!the!material!used!for!the!
structure!of!each!of!the!machines!components.!3D!printing!is!a!simple,!quick,!and!
effective!way!of!prototyping,!but!for!the!purposed!of!this!project!it!will!be!used!to!
construct!most!of!the!structure!of!the!project.!There!are!currently!two!placed!on!the!
Syracuse!campus!to!3D!print;!the!engineering!machine!shop!and!the!SU!MakerSpace.!
At!the!MakerSpace,!students!are!allowed!to!print!up!to!150!grams!of!ABS!plastic!per!
week,!and!at!the!machine!shop!any!printed!ABS!plastic!is!charged!to!the!College!of!
Engineering! at! the! end! of! the! semester.! Using! both! places! wisely! the! entire!
machine’s! structure! could! be! fabricated! for! free.! There! are! limitations! associated!
with! 3D! printing,! such! as! printing! accuracy! and! printing! time.! There! are! also!
restraints!such!as!the!amount!of!3D!printers!available!in!both!the!MakerSpace!and!
the! machine! shop,! so! there! is! no! guarantee! that! one! can! used! a! 3D! printer! at!
anytime.!Ultimately!the!biggest!limitation!on!3D!printing!is!the!size!a!3D!printer!is!
capable!of!producing.!Some!of!the!parts!in!the!teams!project!are!so!big!that!there!is!
only!two!3D!printers!known!on!campus!that!can!reproduce!the!parts,!and!one!of!
them!is!currently!under!service.!!
!
Another!way!the!team!has!found!to!save!money!is!by!sought!revenue!for!equipment!
to!companies.!One!such!company!was!Igus,!a!manufacturer!of!various!mechanical!
hardware! centered! on! plastics.! Igus! has! a! programmed! called! “Young! Engineers’!
Support! Program”! (Y.E.S)! which! allows! engineering! students! to! foster! their!
mechanical! engineering! concepts! through! no! cost.! The! team! applied! to! Igus’!
program!and!was!awarded!3ft!of!its!E2!micro!energy!chain;!a!piece!that!would!have!
cost!the!team!about!$40.!Another!company!that!the!team!talked!to!was!JJ!Associates,!
who!happened!to!have!excess!spare!aluminum!toothed!pulleys!and!corresponding!
conveyor!belts.!After!a!brief!conversation!they!even!cut!and!assembled!a!conveyor!
belt!to!the!proper!size!the!team!required!and!sent!it!as!well!as!the!aluminum!pulleys!
free!of!charge!to!the!team.!!
!
The! final! way! the! team! has! saved! money! is! by! sourcing! parts! from! various!
connections! that! the! individual! team! members! have! with! the! community.! All! the!
bike! parts! used! in! the! project! such! as! the! sprockets! and! bike! chains! were!

28. ! 28!
repurposed!throwaway!parts!from!one!of!the!team!members’!workplace.!The!optical!
sensor,!wiring,!resistors,!and!motors!were!all!from!a!members’!home!shop.!!
!
These!three!tactics!in!acquiring!free!material!has!been!extremely!beneficial!to!the!
teams!progress!as!it!has!allowed!for!verification!of!ideas!that!has!only!been!drawn!
up!on!paper.!Validating!concepts!before!the!final!construction!of!the!machine!is!a!
key!component!to!the!success!of!the!team!since!adjustments!can!be!made!relatively!
easy!than!if!the!team!just!decided!to!build!the!entire!machine!first!hand,!saving!time.!!
!
The!rest!of!the!parts!of!the!machine!had!to!be!bought,!and!the!most!expensive!were!
the! motors! and! control! modules.! The! arduino! and! the! extra! boards! that! mount!
directly!to!it!had!to!be!purchased!early!on!in!the!projects!development!as!none!of!
the! team! members! knew! anything! about! programming! in! the! arduino! language.!
Because!of!this,!a!substantial!amount!of!the!budget!was!used!quickly!and!the!rest!of!
the!design!needed!to!compensate!for!the!lack!of!funds.!The!team!members!did!their!
best!to!find!the!cheapest!parts!available!and!a!total!budget!of!$273.98!was!attained.!
This!number!however!does!not!include!two!motors!that!are!necessary!to!drive!the!
feeder!and!storage!component,!nor!does!it!include!the!scissor!jacks!that!will!create!
linear!motion!to!raise!the!storage!component.!Unless!those!parts!can!be!found!for!
free!the!budget!will!increase!by!an!estimated!$70.!!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
!
! !

29. ! 29!
Conclusion'
!
At!this!time,!Team!One!is!almost!completely!on!track!to!complete!the!project!design!
with! the! potential! to! be! about! a! week! behind! schedule.! This! analysis! has! been!
obtained!by!referencing!the!Gantt!chart!included!in!TA.!1!memo.!At!this!time,!the!
team! surmised! that! the! only! things! that! should! be! left! to! do! after! spring! break!
include!testing!the!prototype!for!the!major!framework,!completing!a!CAD!model!of!
the!final!assembly!of!the!machine,!physically!assembling!the!machine!components,!
mounting! each! component! to! the! framework,! wiring! the! hardware! together! and!
finally!testing!the!final!prototype.!
!
The!possibility!of!falling!a!week!behind!schedule!comes!from!the!fact!that!there!are!
still!a!few!tasks!that!still!need!completion!which!were!expected!to!be!finished!by!
spring!break.!These!tasks!come!in!the!form!of!completing!prototypes!for!the!feeder!
component,! the! movement! system,! the! major! framework! of! the! machine! and! the!
storage! component.! The! problems! encountered! concerning! each! of! these! sub<
systems!were!addressed!in!the!“progress!toward!solution”!portion!of!this!report.!To!
reiterate,!the!progress!for!the!feeder!prototype!was!slowed!when!two!major!issues!
were!found!with!the!original!design.!It!was!discovered!that!securing!rigid!fins!to!the!
conveyor! belt! while! maintaining! the! proper! interface! between! the! belt! and! the!
pulley! stocks! would! be! a! very! difficult! task! to! complete.! Furthermore,! the! servo!
motor!that!was!designed!to!drive!the!pulley!stocks!was!not!able!to!provide!enough!
torque! to! carry! out! this! task,! so! it! was! determined! that! an! augmented! design!
resulting!in!a!new!prototype!would!be!necessary.!The!components!of!the!new!design!
are!currently!being!3<D!printed!and!tested!so!the!completion!of!a!new!prototype!is!
dependent!on!these!tests.!As!previously!discussed,!the!progress!on!the!movement!
system!prototype!was!set!back!due!to!issues!with!the!dimensional!constraints.!The!
new!design!for!this!system!has!been!completed,!so!the!completion!of!a!functional!
prototype!is!dependent!on!acquiring!the!required!materials!through!providers!and!
through!3<D!printing!and!on!the!time!required!to!assemble!these!materials.!Since!
the!last!update,!it!was!decided!that!there!will!not!be!a!separate!prototype!for!the!
major!framework!of!the!machine.!Instead,!the!frame!has!been!integrated!with!the!
design!for!the!movement!system,!therefore!these!proposed!tasks!will!be!completed!
simultaneously.! Finally,! the! prototype! for! the! storage! system! has! yet! to! be!
completed!as!well.!This!is!because!the!team!underestimated!the!complexity!of!the!
scissor! jacks! required! to! lift! the! system.! However,! the! final! design! is! nearing!
completion!and!so!the!construction!of!the!prototype!will!begin!shortly.!
!
Depending!on!the!availability!of!the!necessary!3<D!printing!devices,!the!prototypes!
for!the!feeder!and!the!movement!system!have!the!potential!to!be!completed!before!
spring! break.! However,! most! of! the! testing! will! not! be! conducted! until! after! the!
break.!Once!the!necessary!tests!on!the!various!prototypes!are!completed!and!it!is!
determined!that!everything!is!working!properly,!the!team!can!begin!working!on!the!
tasks!originally!set!to!be!completed!after!spring!break!mentioned!at!the!beginning!of!
this! conclusion.! These! tasks! will! be! worked! on! until! the! day! of! the! final!

30. ! 30!
demonstration,!which!should!provide!enough!time!to!ensure!that!machine!is!able!to!
complete!each!tasks!it!has!been!designed!to!accomplish.!
!
!!!!!!!! Unfortunately,!as!discussed!in!the!economic!analysis!portion!of!this!report,!
Team!One!will!not!be!able!to!stay!within!budget!for!this!project.!The!leading!cause!of!
this!seems!to!be!the!expensive!hardware!required!for!the!complex!control!system!
for!the!machine.!Since!the!original!budget!has!already!been!exceeded!at!this!time,!
there!is!no!action!that!could!be!taken!to!keep!the!project!within!the!budget.!The!
team!simply!must!continue!working!while!alleviating!economic!burdens!whenever!
possible.!While!the!project!will!exceed!the!limits!of!the!budget,!it!is!not!to!an!extent!
where! the! team! can! no! longer! continue! working.! Any! finances! that! cannot! be!
covered!by!the!budget!will!have!to!be!compensated!by!the!team!by!evenly!splitting!
the!cost!between!its!members.!Despite!this!development!as!well!as!the!prototyping!
setbacks,!Team!One!is!confident!that!the!proposed!machine!will!be!completed!on!
time!and!will!be!able!to!complete!the!objectives!outlined!in!the!original!problem!
statement.!
!
! !

31. ! 31!
Project(and(Report(Responsibilities(
!
Since! the! time! that! team! one! was! formed! early! last! semester,! each! member! was!
designated! a! particular! system! of! the! machine! to! research! and! design.! These!
systems!were!the!movement,!feeding,!storage,!sorting!and!controls.!This!section!will!
discuss! the! major! responsibilities! held! by! each! team! member,! however! a! more!
detailed!list!can!be!found!in!the!appendix.!
!!
The!movement!system!was!designated!to!Yvline!to!develop.!She!was!responsible!for!
designing!a!system!capable!of!moving!the!machine!on!a!turf!field,!and!proved!her!
commitment!by!learning!about!tank!treads!and!their!benefits.!She!then!worked!to!
develop!a!movement!system!that!incorporates!drive!axles,!idle!axles!and!wheel!axles!
for!support.!Going!forward,!Yvline!has!the!responsibility!of!developing!a!working!
prototype!to!verify!concepts!and!make!adjustments!as!needed.!!
!
The! feeding! system! was! assigned! to! Teddy.! He! was! responsible! for! developing! a!
system! capable! of! collecting! and! delivering! tennis,! lacrosse,! and! golf! balls! to! the!
sorting! module! of! the! machine.! Teddy! proved! his! obligation! by! developing! and!
building!a!prototype!that!used!a!conveyer!belt!and!pulley!stock.!From!the!prototype,!
he! was! able! to! learn! about! the! complications! of! the! method! and! make! necessary!
adjustments.!Going!forward,!Teddy!has!the!responsibility!of!further!developing!the!
feeding!system!and!exploring!the!alternative!method!of!e<chains!and!sprockets.!!
The!storage!system!was!designated!to!Alex.!Alex!was!responsible!for!developing!a!
system! capable! of! containing! a! large! volume! of! balls! and! depositing! them! into! a!
basket!at!the!appropriate!time.!The!design!of!the!storage!container!and!door!are!
complete.!Going!forward!Alex!has!the!responsibility!of!designing!and!producing!a!
working!prototype!of!a!scissor!lift.!!
!
The!sorting!system!was!given!to!Ben.!Ben!was!responsible!for!producing!a!sorting!
mechanism! to! distinguish! tennis,! lacrosse,! and! golf! balls! and! then! retain! the!
appropriate! type! of! ball,! while! rejecting! the! others.! Ben! has! exceeded! his!
responsibilities!with!the!development!of!a!working!prototype!that!utilizes!an!optical!
sensor!and!a!FSR.!Going!forward,!Ben!must!test!the!sorting!mechanism!prototype!to!
verify!concepts!and!make!adjustments!as!needed.!!
!
The!controls!system!was!assigned!to!Pat.!Pat!was!responsible!for!developing!a!code!
to!control!the!interface!with!the!Arduino!module,!allowing!it!to!receive!commands!
and! produce! the! appropriate! response! by! turning! on! and! off! various! motors!
integrated!into!the!system.!This!included!the!motors!driving!the!movement!system,!
the!sorting!system’s!software,!the!feeder!motor,!the!scissor!lift!motor,!and!door!arm!
servo.! Due! to! the! complexity! of! the! controls! system! Ben! took! it! upon! himself! to!
write!the!code!using!Arduino.!Going!forward!Ben!is!responsible!for!refining!the!code!
pending!the!success!of!the!prototype!machine’s!performance.!Pat!is!responsible!for!
locating!places!within!the!frame!to!house!the!Arduino!and!battery.!
!

32. ! 32!
Aside! from! designing! and! building! the! machine’s! components! there! are! several!
other!responsibilities!that!team!members!hold.!Some!of!these!responsibilities!the!
members!have!taken!up!by!themselves.!Each!member!is!responsible!for!contributing!
to! presentations,! reports,! team! assignments,! and! design! reviews,! and! this! will!
continue! throughout! the! remainder! of! the! spring! 2016! semester.! Additionally,!
unique! responsibilities! have! been! developed! such! as! the! responsibility! of! project!
manager!and!lead!engineer,!which!Ben!has!assumed!the!role!of.!He!has!assisted!with!
the!design!and!development!of!each!major!system!and!their!components,!effectively!
overseeing!the!project.!He!has!also!upheld!the!responsibility!of!having!several!parts!
3D!printed!on!campus!through!various!connections.!More!so,!Ben!has!maintained!a!
bill!of!materials!and!ordered!necessary!parts!through!vendors!to!ensure!the!project!
is!constantly!moving!forward.!Going!forward!Ben!is!in!charge!of!organizing!a!final!
bill! of! materials! document.! Alex! has! also! taken! up! unique! responsibilities! to!
promote! the! growth! of! the! project.! One! such! responsibility! was! to! develop! and!
manage! the! Gantt! chart! to! ensure! the! team! is! meeting! deadlines! and! staying! on!
track.!He!is!also!tasked!with!recording!attendance!at!meetings!and!developing!3D!
models!by!using!his!skills!in!SolidWorks.!To!this!point!Alex!has!modeled!parts!for!
each! of! the! machine’s! systems! so! that! the! team’s! concepts! can! be! communicated!
clearly!and!effectively.!Going!forward!Alex!is!responsible!for!assembling!a!complete!
3D!model!of!the!machine.!
! !

33. ! 33!
References(
!
"DC 12V 20000mah Super Rechargeable Li-ion Battery + EU Plug Pack for CCTV Camera." EBay.
N.p., n.d. Web. 03 Mar. 2016. <http://www.ebay.com>.
!
"Acrylonitrile Butadiene Styrene (ABS) Typical Properties Generic ABS."Acrylonitrile
Butadiene Styrene (ABS) Typical Properties Generic ABS. N.p., n.d. Web. 03 Mar. 2016.
<http://plastics.ulprospector.com/generics/1/c/t/acrylonitrile-butadiene-styrene-abs-
properties-processing>
"Track Systems." - 28 June 2008. N.p., n.d. Web. 04 Mar. 2016.
"How to Make Custom and Strong Tank Tracks for Very Cheap." Instructables.com.
N.p., n.d. Web. 04 Mar. 2016.
(
( (

34. !
!
Appendix

35. !
!
Appendix!A!
!!"Solid"Model"Drawings"!!"
!
! !

36. ! 36!
Movement!System!
!
!
!
!
!
!
!

37. ! 37!!

38. ! 38!!

39. ! 39!
!
! !!

40. ! 40!!

41. ! 41!
"
"
"
Sorting!System!
!
!
!

42. ! 42!
!
!
!

43. ! 43!
!

44. ! 44!
!
!

45. ! 45!
!
!

46. ! 46!
"
"
"
Storage!System!
!
!
!
!

47. ! 47!
!
!
!
!

48. ! 48!

49. ! 49!
Miscellaneous!
!
!
!
!

50. Appendix(B(
!!"Arduino"Code"!!"
Main Loop
/* Written by: Benjamin Rosenfeld */
#include <PS3BT.h>
#include <Wire.h>
#include <Servo.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
USB Usb;
BTD Btd(&Usb);
PS3BT PS3(&Btd);
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *Storage_Motor = AFMS.getMotor(1);
Adafruit_DCMotor *Feeder_Motor = AFMS.getMotor(2);
Adafruit_DCMotor *Right_Motor = AFMS.getMotor(3);
Adafruit_DCMotor *Left_Motor = AFMS.getMotor(4);
Servo Sorter_Servo;
Servo Storage_Servo;
int Feeder_Speed = 100;
void setup()
{
Serial.begin(115200);
if (Usb.Init() == -1)
{
Serial.print(F("rnOSC did not start"));
while(1); //halt
}
Serial.print(F("rnPS3 Bluetooth Library
Started"));
AFMS.begin();
Feeder_Motor->setSpeed(Feeder_Speed);
pinMode(4,OUTPUT);
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
}
void loop()
{
Feeder_Control();
Movement_Control();
Sorter_Control();
Storage_Control();
}
if(PS3.getButtonClick(PS))
{
PS3.disconnect();
}
}
Feeder_Control()
int run_forward = 1;
int run_backward = 1;
void Feeder_Control()
{
if(PS3.getButtonClick(R1))
{
switch (run_forward)
{
case 1:
Feeder_Motor->run(FORWARD);
run_forward = 0;
break;
case 0:
Feeder_Motor->run(RELEASE);
run_forward = 1;
break;
}
}
if (PS3.getButtonClick(L1))
{
switch (run_backward)
{
case 1:
Feeder_Motor->run(BACKWARD);
run_backward = 0;
break;
case 0:
Feeder_Motor->run(RELEASE);
run_backward = 1;
break;
}
}
}
Movement_Control()
float pi = 3.15149;
float mag;
float ang;
float y;
float x;
int Speed;
int Max_Speed = 200;
int ne_l = 27.5;
int ne_u = 72.5;
int nw_u = 117.5;
int nw_l = 162.5;
int sw_u = 207.5;
int sw_l = 252.5;
int se_l = 297.5;
int se_u = 332.5;
void Movement_Control()
{
y = -1*(PS3.getAnalogHat(LeftHatY) - 127.5);
x = PS3.getAnalogHat(LeftHatX) - 127.5;
mag = sqrt(x*x+y *y);
if ( x > 0 && y >= 0)
{
ang = atan(y / x) * 180 / pi;
}
else if ( x <= 0 )
{
ang = atan(y / x) * 180 / pi + 180;
}
else if ( x > 0 && y < 0)
{
ang = atan(y / x) * 180 / pi + 360;
}
if ( mag <= 15
)
{
Right_Motor -> setSpeed(0);
Left_Motor -> setSpeed(0);
Right_Motor -> run(RELEASE);
Left_Motor -> run(RELEASE);
return;
}
else if ( mag > 15
)
{
Speed = map( mag, 15, 180, 0, Max_Speed );
}

51. ! 51!
Left_Motor -> setSpeed(Speed);
Right_Motor -> run(RELEASE);
Left_Motor -> run(FORWARD);
return;
}
if ( ang >= ne_l && ang < ne_u )
{
Left_Motor -> setSpeed(Speed);
Right_Motor -> setSpeed(map( ang, ne_l, ne_u,
0, Speed ));
Right_Motor -> run(FORWARD);
Left_Motor ->
run(FORWARD);
return;
}
if ( ang >= ne_u && ang < nw_u)
{
Right_Motor -> setSpeed(Speed);
Left_Motor -> setSpeed(Speed);
Right_Motor -> run(FORWARD);
Left_Motor -> run(FORWARD);
return;
}
if ( ang >= nw_u && ang < nw_l)
{
Right_Motor -> setSpeed(Speed);
Left_Motor -> setSpeed(map( ang, nw_u, nw_l,
Speed, 0 ));
Right_Motor -> run(FORWARD);
Left_Motor -> run(FORWARD);
return;
}
if ( ang >= nw_l && ang < sw_u)
{
Right_Motor -> setSpeed(Speed);
Left_Motor -> setSpeed(0);
Right_Motor -> run(FORWARD);
Left_Motor -> run(RELEASE);
return;
}
if ( ang >= sw_u && ang < sw_l)
{
Right_Motor -> setSpeed(Speed);
Left_Motor -> setSpeed(map( ang, sw_l, sw_u,
Speed, 0 ));
Right_Motor -> run(BACKWARD);
Left_Motor -> run(BACKWARD);
return;
}
if ( ang >= sw_l && ang <
se_l)
{
Right_Motor -> setSpeed(Speed);
Left_Motor -> setSpeed(Speed);
Right_Motor -> run(BACKWARD);
Left_Motor -> run(BACKWARD);
return;
}
if ( ang >= se_l && ang < se_u)
{
Right_Motor -> setSpeed(map( ang, se_l, se_u,
Speed, 0 ));
Left_Motor -> setSpeed(Speed);
Right_Motor -> run(BACKWARD);
Left_Motor -> run(BACKWARD);
return;
}
}
Sorter_Control()
int Fsr_Pin = 0;
int Opt_Pin = 1;
int Lac_Weight = 400;
int Ten_Weight = 200;
int Switch_Var = 0;
int Move_Step = 0;
int Counter = 0;
int Movement_Speed = 5;
int Weigh_Time = 500;
int Scale_Thresh = 100;
int Opt_Thresh = 700;
int Servo_Wait = 300;
int Left = 800;
int Center = 1400;
int Right = 2100;
int Position = 1400;
bool Sort_Decision;
float Weight_Resolution = 50.0;
int Fsr_Raw;
float Fsr_Avg_New = 0;
float Fsr_Avg_Old = 0;
void Sorter_Control()
{
int Button_Var = Square_Button_State();
int Opt_Read = analogRead(Opt_Pin);
switch (Switch_Var)
{
case 0:
Fsr_Raw = analogRead(Fsr_Pin);
if (Fsr_Raw < Scale_Thresh) Counter = 0;
else if (Counter < Weigh_Time)
{
Fsr_Avg_Old = Fsr_Avg_New;
Fsr_Avg_New = (7.0 / 8.0) * Fsr_Avg_New +
(1.0 / 8.0) * Fsr_Raw;
Counter++;
}
else if (Counter == Weigh_Time &&
abs(Fsr_Avg_New - Fsr_Avg_Old) < Weight_Resolution)
{
Counter = 0;
Switch_Var = 1;
}
else if (Counter == Weigh_Time &&
abs(Fsr_Avg_New - Fsr_Avg_Old) > Weight_Resolution)
{
Counter = 0;
Fsr_Avg_New = 0
}
break;

52. ! 52!
case 1:
switch (Button_Var)
{
case 0:
if (Fsr_Avg_New >= Lac_Weight)
{
Serial.println("Lacrosse Ball Sorted");
Serial.print("Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.print("Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = true;
}
else
{
Serial.println("Ball Released");
Serial.print("Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.print("Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = false;
}
break;
case 1:
if (Fsr_Avg_New < Lac_Weight && Fsr_Avg_New
>= Ten_Weight)
{
Serial.println("Tennis Ball Sorted");
Serial.print(" Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.print(" Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = true;
}
else
{
Serial.println("Ball Released");
Serial.print(" Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.print(" Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = false;
}
break;
case 2:
if (Opt_Read < Opt_Thresh)
{
Serial.print("Golf Ball Sorted - ");
Serial.print(Fsr_Avg_New);
Serial.print(" Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.println(" Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = true;
}
else
{
Serial.println("Ball Released");
Serial.print(" Fsr Value - ");
Serial.println(Fsr_Avg_New);
Serial.println(" Opt Value - ");
Serial.println(Opt_Read);
Sort_Decision = false;
}
break;
}
Fsr_Avg_New = 0;
Switch_Var = 2;
Counter = 0;
Move_Step = 0;
Sorter_Servo.attach(10);
Sorter_Servo.writeMicroseconds(Center);
break;
case 2:
switch (Sort_Decision)
{
case true:
switch (Move_Step)
{
case 0:
if (Position > Left)
{
Position = Position - Movement_Speed;
Sorter_Servo.writeMicroseconds(Position);
break;
}
Move_Step = 1;
break;
case 1:
if (Counter < Servo_Wait)
{
Counter++;
break;
}
Move_Step = 2;
break;
case 2:
if (Position < Center)
{
Position = Position + Movement_Speed;
Sorter_Servo.writeMicroseconds(Position);
break;
}
Move_Step = 0;
Counter = 0;
Switch_Var = 0;
Sorter_Servo.detach();
break;
}
break;
case false:
switch (Move_Step)
{
case 0:
if (Position < Right)
{
Position = Position + Movement_Speed;
Sorter_Servo.writeMicroseconds(Position);
break;
}
Move_Step = 1;
break;
case 1:
if (Counter < Servo_Wait)
{
Counter++;
break;
}
Move_Step = 2;
break;
case 2:
if (Position > Center)
{
Position = Position - Movement_Speed;
Sorter_Servo.writeMicroseconds(Position);
break;
}
Move_Step = 0;
Counter = 0;
Switch_Var = 0;
Sorter_Servo.detach();
break;
}
break;
}
}
}

53. ! 53!
Square_Button_State()
int square_button = 0;
int Square_Button_State(void)
{
if (PS3.getButtonClick(SQUARE))
{
square_button++;
}
switch (square_button)
{
case 0:
digitalWrite(6, LOW);
digitalWrite(4, HIGH);
return(square_button);
break;
case 1:
digitalWrite(4, LOW);
digitalWrite(5, HIGH);
return (square_button);
break;
case 2:
digitalWrite(5, LOW);
digitalWrite(6, HIGH);
return (square_button);
break;
case 3:
square_button = 0;
return (square_button);
break;
}
}
Storage_Control()
int run_direction = 1;
int door_state = 1;
int Closed = 800;
int Open = 2100;
void Storage_Control()
{
if (PS3.getButtonClick(CIRCLE))
{
switch (run_direction)
{
case 1:
Storage_Motor->run(FORWARD);
run_direction = 2;
break;
case 2:
Storage_Motor->run(RELEASE);
run_direction = 3;
break;
case 3:
Storage_Motor->run(BACKWARD);
run_direction = 4;
break;
case 4:
Storage_Motor->run(RELEASE);
run_direction = 1;
break;
}
}
if (PS3.getButtonClick(CROSS))
{
Storage_Servo.attach(9);
switch (door_state)
{
case 1:
Storage_Servo.writeMicroseconds(Closed);
door_state = 2;
break;
case 2:
Storage_Servo.writeMicroseconds(Open);
door_state = 1;
break;
}
}
}
!
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54. ! 54!
Appendix(C((
!!"Economic"Analysis"!!"
Part" Sold"By" I.D."/"SKU"Number" Price" Quantity" Total"Price" Comment"
!! !! !! !! !! !! !!
Arduino! Adafruit! 50! $24.95!! 1! $24.95!! !Donated!!
Proto!Shield! Adafruit! 2077! $9.95!! 1! $9.95!! Donated!
Motor!Shield! Adafruit! 1438! $19.95!! 1! $19.95!! Donated!
Force!Sensitive!Resistor! Adafruit! 166! $7.00!! 1! $7.00!! !!
Micro!Servomotor! Adafruit! 1143! $9.95!! 2! $19.90!! Got!1!for!free!
Bluetooth!Shield! Circuits@Home! N/A! $25.00!! 1! $25.00!! !!
1/4"!Ball!Bearing! Servo!City! 535020! $1.00! 10! $9.95! !!
Precision!Disk!Wheels! Servo!City! 59571! $3.99! 4! $15.96! !!
Movement!Motor! Robot!Shop! RBSHisS08! $27.71!! 2! $55.42! !!
Battery! Ebay! N/A! $23.67!! 1! $23.67! !!
PS3!Controller! Ebay! N/A! $28.65!! 1! $28.65! !!
Bluetooth!Dongle! Ebay! N/A! $2.84!! 1! $2.84! !!
1/4"!Axle!Collar! Amazon! N/A! $0.58! 4! $2.32! !!
1/4"!Aluminum!Rod! Home!Depot! 477052! $4.21!! 2! $8.42! !!
Various!Fastners! Home!Depot! N/A! $20.00!! 1! $20.00! M2,!M3,!1/4"!Machined!Screws!
Feeder!Chain! Igus! 04S30S015S0! $0.00! 3!(ft)! $0.00! Received!through!'Y.E.S'!program!
Sprockets! N/A! N/A! $0.00! 8! $0.00! !!
Bike!Chain! N/A! N/A! $0.00! 4!(ft)! $0.00! !!
Optical!Sensor! N/A! N/A! $0.00!! 1! $0.00!! Found!
! !
!! !! !! !! !!
! !
!! !! Total:! $273.98!!
!

55. ! 55!
Appendix(D(
!!"Gantt"Chart"!!"
!
!
!
!
Legend:
WEEKOF: SpringBreak
FINISHED TASKS ASSIGNEDTO %COMPLETE COMMENTS 1/17/2016 1/24/2016 1/31/2016 2/7/2016 2/14/2016 2/21/2016 2/28/2016 3/6/2016 3/13/2015 3/20/2016 3/27/2016 4/3/2016 4/10/2016 4/17/2016 4/24/2016 5/1/2016 5/8/2016
DesignandBuildPhase
ControlSystem
!
WriteControlCodefor Sorter, Movement
&Feeder Systems
Ben 100%
! WriteBluetoothControlCode Ben 100%
!
WriteStorage(Door &Scissor Jacks)
ControlProgram
Ben 100%
TestCoding Ben
FinalizeCoding Ben
Movement System
! SolidModelTankTreads Alex 100%
!
DesignSuitableFramefor Movement
System
Yvline&Ben 100%
AssembleandAttachBikeChainto
Treads
Yvline
!
DesignDriveAxle, IdleAxleandWheel
Axle
Yvline&Ben 100%
! AquireFour Sprockets Yvline 100%
! DetermineAppropriateMotors Ben 100%
AssemblePrototypeof Movement
System
Yvline
Feeder System
Calculationsfor RPM, BeltLength,
Torque, ForceonSystem
Teddy
!
DetermineAppropriateCenter Distance
for Pulley Stocks
Teddy 100%
GoingwithE-chainand
Sprocketmethodnow.
! FinalizeFrameworkof Feeder Teddy 100%
!
LatheAppropriateBoreDiameter for
Pulley Stocks
Teddy 100%
GoingwithE-chainand
Sprocketmethodnow.
! DetermineAppropriateE-Chains Ben 100%
DetermineFinAssembly Teddy &Ben
DetermineGeometry of Feeder Teddy
Solidworks(TwoPulleys, Feeder Frame,
Chains, Belt, motor)
Alex&Teddy
!
MachinePulley StocktoAppropriate
Length
Teddy 100%
GoingwithE-chainand
Sprocketmethodnow.
AssembleandBuildFrame Teddy
AssembleWorkingPrototype Teddy
Completed
GANTT CHART
MEE472- SYNTHESISOFMECHANICALSYSTEMSII
TEAM1: TeddyBelay, Pat Carney, AlexMcGlone, BenRosenfeld, YvlineTanis
ToBeWorkedOn

56. ! 56!
!
!
! !
Sorting System
!
Solid Model Final Assembly (Ramp and
Claw)
Alex 100%
3D Print Parts and Assembly Ben 95% Missing Ramp.
Make Minor Adjustments to Design Ben
Build Sorter Prototype Ben
Test Sorting System Ben
Storage System
Design Scissor Jacks Alex& Ben
Solid Model Scissor Jacks Alex
!
Determine Howto Assemble Storage
Container
Alex 100% Going to 3D Print it as one.
Build Prototype of Scissor Jacks Alex
Complete Stress Analyses on Scissor
Jacks
Alex
! Solid Model Door and Latch Mechanism Alex 100%
! Finalize Door and Latch Mechanism Alex 100%
!
Finalize Storage Container Size and
Geometry
Alex 100%
!
Design False Floor for Container and
Scissor Jacks
Alex 100%
Build Prototype of Storage Container Alex
Build Prototype of Door and Latch
Mechanism
Alex
Entire Machine and Frame
Design Suitable Frame to House
Electronics and Components
Pat & Ben
Determine Machine Frame Material
through Stress Analysis
Pat & Ben
Leaning towards ABS
Plastic.
Test Prototype Team
Make Adjustments to Prototype Team
Solid Model Machine Assembly Alex
Assemble Machine Components Team
Wire Machine Together Ben & Alex
Bill of Materials Phase
Contact Vendors Teddy & Ben 75%
Order Parts and Materials Teddy & Ben 75%
Finalize Bill of Materials Document Ben
Assignments and Papers Phase
! TA.1 Operating Procedure Memo Team 100% 92.5%
! Design Review#1 Team 100% Went well. Positive
feedback.
!
Gate 2: Design Progress Report #2
Presentation
Team 100%
!
Gate 2: Design Progress Report #2
Written Report
Team 100%
TA.2 Budget Analysis Memo Team
Design Review#2 Team
IA.1 Elavator Pitch Memo Individual
TA.3 Executive Summary Memo Team
Gate 3: Final Project Poster Team
Gate 3: Final Project Written Report Team
Gate 3: Final Project Demonstration Team

57. ! 57!
Appendix(E
!!"Project"Responsibilities"!!
!
" Project"Responsibilities" Gate"2"Report"Responsibilities" TA.1"Responsibilities"
Teddy"Belay"
• Feeding!System:!
o Researched!Conveyer!Belt!
System!
o Designed!and!Built!Prototype!of!
Pulley!Stock!&!Conveyer!Belt!
Method!
o Solid!Modeled!Some!Parts!for!
Feeder!
o Contacted!Vendors!and!
Acquired!Parts!
o Machined!Pulley!Stock!in!
Machine!Shop!
• Abstract!
• Method!of!Solution!(feeding!
system)!
• Progress!Towards!Solution!
(feeding!system)!
• Future!Work!(feeding!system)!
• References!
• Pertinent!Issues!or!
Complications!Section!
Patrick"Carney"
• Minor!Calculations!for!Movement!
System!
• Method!of!Solution!(controls!
system)!
• Progress!Towards!Solution!
(controls!system)!
• Future!Work!(controls!system)!
• Conclusion!
• Helped!Edit!
• Week!by!Week!
Description!Section!
Alexander"McGlone"
• Storage!System:!
o Researched!Scissor!Jacks!and!
Dump!Truck!Latch!Mechanisms!
o Designed!Storage!Container!&!
Door.!Then!Reworked!with!Ben.!
o Basic!Calculations!(Volume,!
Static!Loading,!etc.)!
o Designing!Scissor!Lift!(ongoing)!
• SolidWorks:!
o All!3D!Models!(Parts!&!
• Method!of!Solution!(storage!
system)!
• Progress!Towards!Solution!
(storage!system)!
• Future!Work!(storage!system)!
• Project!Report!and!
Responsibilities!–!Decided!on!
with!Ben!
• Abstract!
• Appendices!!
• Gantt!Chart!
• Edited!Entire!Paper!
• Assembled!Paper!

58. ! 58!
Assemblies)!for!Every!System!
Except!for!Feeder!System!
o CAD!Drawings!for!these!Models!
• Design:!
o Sprocket!Hubs!with!Ben!
o Wheel!Bearing!Caps!
o Sorter!Claw!with!Ben!
• Project:!
o Attendance!at!Meetings!
o Gantt!Chart!
• Helped!Edit!
!
Benjamin"Rosenfeld"
• Sorting!System:!
o Researched!different!ways!to!
analyze!objects!
o Constructed!Prototypes!
o Finalized!Design!!
• Controls!System:!
o Wrote!the!Arduino!Code!
o Wired!All!Electrical!
Components!
• Design:!
o Sprocket!Hubs!with!Alex!
o Sprockets!for!Feeder!E^Chain!
o Reworked!Design!of!Storage!
Container!and!Deposit!Door!
with!Alex!
o Developed!Sprocket!and!E^
Chain!Method!for!Feeder!
System!
• Reworked!Movement!and!Tread!
Design!with!Yvline.!(Drive!Axles,!
Idle!Axles,!Wheel!Axles,!Frame,!
etc.)!
• AutoCAD:!
o Created!Initial!2D!Drawings!of!
Parts!
• Project:!
o Contacted!Vendors!and!
• Part!of!Background!on!Project!
• Method!of!Solution!(sorting!
system)!
• Progress!Towards!Solution!
(sorting!system)!
• Future!Work!(sorting!system)!
• Economic!Analysis!!
• Edited!Entire!Report!
• Assemble!Paper!
• Detailed!Plans!Section!

59. ! 59!
Acquired!Parts!
o Budget!Analysis/Bill!of!
Materials!
o Built!Multiple!Prototypes!for!
Feeder!and!Sorter!
! 3D!Printing!
! Manufacturing!
Yvline"Tanis"
• Movement!System:!
o Researched!Tank!Treads!
o Designed!and!Built!Prototypes!
of!Tank!Treads.!Then!Reworked!
with!Ben.!
o Produced!Hand!Drawings!of!
Designs!
o Researched!and!Acquired!Parts!
Online!
• Part!of!Background!on!the!
Project!
• Method!of!Solution!(movement!
system)!
• Progress!Towards!Solution!
(movement!system)!
• Future!Work!(movement!
system)!
• Helped!Edit!Paper!
• Aseembled!PowerPoint!
• Overview!Section!
!
!
!
!
!
!
!
!
!
!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!