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The Chur -Robot

The Chur -Robot. Team Churro: Sharon Grimshaw, Maggie Su, Louis Yi, and Morgan Zheng. Project Goals. Safe Heat: no burns Moving components: no pinching Easy Loading: one container, easily removed, to fill Cooking: machine removes when done User choice Length or number of churros

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The Chur -Robot

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  1. The Chur-Robot Team Churro: Sharon Grimshaw, Maggie Su, Louis Yi, and Morgan Zheng

  2. Project Goals • Safe • Heat: no burns • Moving components: no pinching • Easy • Loading: one container, easily removed, to fill • Cooking: machine removes when done • User choice • Length or number of churros • Shape of churro

  3. The Website

  4. Initial Idea

  5. Mechanical Subsystem • Extruder • Cutter/Shaper • Stirrer • Lifter • Shaker

  6. Mechanical Subsystem – Lifter Pulley System Rack and Pinion • Initial Idea: • Need to lift an assembly consisting of a stirring mechanism with a platform and a mesh grid. • Revised Idea: • Only lifting mesh grid, but need to constrain vertical motion • Vertical lifting • Can lift more weight • Can still use 1 motor to control movements of 2 sets of pulleys • Vertical lifting • Too much load on gear/motor, assuming initial idea of lifting stirrer and mesh grid assembly. • Use 1 motor to lift all • Gear & racks may be expensive

  7. Mechanical Subsystem - Extruder • How to keep the threaded rod vertical? • Guide hole • Fixed to the motor • Will we have enough torque? • Stepper motor instead of servo • Gears

  8. Mechanical Subsystem - Structure Stability through weight Stability through attachment • Make supports heavier so that pieces don’t move • Overall smaller system • Difficult to move around (multiple heavy pieces) • Attach supports (L brackets) to base and frames so they do not move • Easier to transport because only one piece • Easier to set up because distance between pieces is predefined • Large, bulky system

  9. Electrical Subsystem - Overview • To be powered on 12 volts • 2 stepper motors • 3 servo • Temperature gauge • Thermocouple • Instrumentation amplifier • Character LCD display

  10. Electrical Subsystem – Stepper Control • Basic H-bridge driver: • Requires four input pins to control each motor • Revised two-pin control: • Uses transistors to set polarity across coils – two input pins per stepper

  11. Software Component • Motor control – Arduino Stepper/Servo Libraries • Stirrer/Shaker can run on a loop • Extruder, cutter, and lifter relies on user input • GUI • Python • Serial communication is relatively easy to deal with • Lots of GUI libraries to choose from – some of which are painful to deal with • Processing • Theoretically very good for Arduino GUIs • Requires generic firmware that communicates with a Processing Library – may interfere with the use of other Arduino libraries.

  12. Where we’re going…

  13. Questions? Comments? Concerns?

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