This week was spent working on getting the vacuum end-effector to work. After some testing and design changes, I was able to get the end-effector to the point where it is able to pick up all 4 types of recycling consistently. I still need to add a release mechanism, which should just be a solenoid which opens and closes a hole in the air flow. I’ve designed and 3d-printed a part that should fit onto the end of the z-axis rack. I’ve also started looking into the stereo camera and the repository that comes with it to get the depth map from the camera. I also spent some time this week ordering parts, including the belt for the conveyor belt, silicone tubing for the vacuum pump, and aluminum extrusions for the gantry. The current construction of the gantry’s frame is hypothetically sufficient, but there seems to be severe wobbling, so switching from aluminum angles to aluminum extrusion should hopefully solve the problem.
Next week, I hope to attach the vacuum pump and suction end-effector to the gantry, get the conveyor belt cloth attached, get the depth map from the camera, and if time allows replace the aluminum angles with aluminum extrusion. I am behind schedule but I am catching up to what was planned.
