after adding motors….it couldnt reali lift up the blocks….even 3 like the video with foam.

This is the furthest that the motor can hold……

Here are the possible reasons:

- balsa wood are getting heavy after adding different structure
- area too big that little jiggle already change the center of gravity. The further the c.o.g is from the pivot point, the harder to lift up the object.
- friction in the side secure structure
- friction of wires connected with each blocks.
- base structure not strong enough

possible solution:
- make the structure narrower so that the center of gravity is more towards the center instead of spreading outward.
- by narrow it the side structure can be removed.
- use 2 servos together on both sides.
- reduce the thickness of the blocks so that at the final position, it will stay as close as possible towards the first servo pivot point.

After examining the monkey, I proposed to make something that will tumble and return to its own position.
I am very amazed by the monkey that it is not electronically controlled, so I want to keep this principle in my design.

I have made another version on my own to try out the motion. it can flip like the monkey did. However, I found there’s quite impossible to make it stand without another accurate external force to maintain its originally position. Also, in order to initiate the motion every time, a slightly pushed is needed.

i built something at both sides to secure left and right swinging. However, it needs accurate cuts of a lot of different pieces which ends up i built 3 more new blocks.$$

join cut by plexi glass to reduce the flexibility

holes for wires of servo motor

Left: with secured structure
Right : without secured structure

the 3 blocks actually stand better than before

side view in my messy room=P.
improved but still a little bit off

blocks are built but they are pretty shaky…..
this problem occurred before in the foam version but at that time I thought it is mainly the joint problem.
The sides need a structure to secure.  Next, I built two half circle to acts as a track of the motion:

in order to be accurate, hand cutting is not really reliable. so i am cutting balsa wood for this week.

this glue is the best but they just have too little in one

1,2,3,4,5,6…….

autoblocks with the oscar’s foam tree in pcomp lab

Well, honestly, it couldnt lift up itself by the motor and it could barely stand for less than 10 seconds.

The main reason is the connection between the servo and the blocks are not tight enough. it means that I have to build more robust structure to secure the hinge.
Also, theoretically, the servo is strong enough to lift up the weight. according to the data sheet, CS-60 has a torque of 3.57kg-cm max (49.0oz-in). While each motor weighs 44.9g (1.57oz). It’s torque can actually lift up 80 servo motors. I have tried on a little experiment,  CS-60 can actually lift up half filled 2 liter bottle which is way heavier than the blocks added up with the motors.

after figuring the important pivot point problem, i re-built it with Styrofoam and servo motors.
the blocks are automized!!!

http://nothinghill.net/thesis/prototype1.mov