Updated 6DOF Arm

content/portfolio/sixdofarm/index.md

@@ -19,8 +19,6 @@ First, a video:
 {{< youtube 2kkPbTSSpe0 >}}
 
 ## Design
-![End Effector Screenshot](arm-end-effector-screenshot.png)
-
 ### Overall Design
 ![Arm Screenshot](arm-screenshot.png)
 Looking back to the robotic arm I designed in the previous year, I realized that it lacked mobility. With only five degrees of freedom, the two most important axes had limited rotational range. To increase mobility, this new arm would have six degrees of freedom with a brushless motor and gearbox at every axis, eliminating the linear actuators and brushed motors we had used before. The design was inspired by one that a previous team member had modeled.
@@ -54,4 +52,33 @@ I did most of the manufacturing and assembly for this arm, and it took me a coup
 ![Arm with Wires](arm-with-wires.jpg)
 ![Arm on Rover](arm-on-rover.jpg)
 
-## Testing
+## Testing
+During testing, there were two critical failures that happened. 
+
+First, one of the motors I chose proved to be too weak at the highest load axis. Solution? Bigger motor! And, bigger gearbox.
+
+Second, the structural member at the highest load axis fractured because I frankly did not think hard enough about that design. I had suspected that it would break, but left the problem for later. It was a carbon-fiber nylon 3D printed part, but the orientation of the print made it very weak, and a 3D print was nowhere strong enough for this application. Solution? Design some parts out of metal.
+
+![Arm Broken Shoulder](arm-broken-shoulder.jpg)
+
+After those fixes, we were able to get out and start testing. We had several testing runs, but my favorite was carrying this lantern after sunset:
+![Arm with Lantern](arm-lantern.jpg)
+
+Finally, here's a picture of this arm beside the arm I designed last year!
+![Arm Comparison](arm-mask-photo.jpg)
+
+## Competition
+After acceptance into the final competition in Utah for the University Rover Challenge, the rover competed in two missions that involved the arm: the Delivery mission, a long range and intensive task involving search and delivery of heavy objects, and the Equipment Servicing Mission, a mission involving precise movements.
+
+Here are some images from the Delivery Mission:
+![Arm Delivery](arm-delivery.jpg)
+![Arm Delivery2](arm-delivery2.jpg)
+![Arm Delivery3](arm-delivery3.jpg)
+
+Here are some images from the Equipment Servising Mission:
+![Arm Equipment Servicing](arm-equipment-servicing.jpg)
+![Arm Equipment Servicing2](arm-equipment-servicing2.jpg)
+![Arm Equipment Servicing3](arm-equipment-servicing3.jpg)
+
+## Conclusion
+I learned so much from this project, and what I've talked about here is just a very brief overview. It was so much fun to carry this from design to final performance!