The lab director wants us to illustrate drawings on paper that would demonstrate the robot's ability to draw lines with varying darkness. At first, with the harmonic gear, the robotic arm had a big torque and didn't have a good range of it for varying darkness. The director decided to remove the harmonic gear and utilize the motor's original torque. In contrast with the harmonic gear, with which we could enter torque values ranging from 0.1 to 0.17, the robotic arm is now capable of accepting torque values ranging from 0.1 to 5 without breaking the pencil. (big difference!).
We attempted to illustrate a rectangular prism. It was extremely cumbersome to manually input hundreds of lines of torque values and stage position values, but it worked out quite nicely. Below are some drawing samples from the session.
Varying darkness in a line
drawing rectangular prisms
