Photos of our final machine can be viewed below in our previous post. As our video explains, our cart has three main motor-powered parts: one planetary gear box elevates and lowers the upper arm that is always vertical via a rack and pinion mechanism. Another planetary gear box is used to rotate a winch with kevlar thread tied to it. The thread is also tied to the lower arm and the rotating shaft spins the arm up and down in a circular motion centered at the joint between the two arms (the arms are jointed by a brass hinge). The third motor is a double gear box (even though only of the sides is used) that spins the shaft and the wheels, thus transporting the machine forwards and backwards.
The arms were cut out from an aluminum plate via the waterjet, and the base for our cart was made from the cutting acrylic with the laser cutter. We used the mill to cut out the supports and to drill holes through them. We used the lathe to cut grooves in the shafts for the e-clips. We used the bandsaw and the drill press for various reasons.
Below are couple more final photos of our machine:
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