Videos - The Coin Bot

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00:00:00	I think I have some really great ideas about how to finish that coin grabbing mechanism that we've been talking about over the last few videos hello everyone and welcome back to the channel if you've been following along this far you
00:00:12	know that I'm trying to build a coin sorting robot that's capable of finding pennies by date if I could do that I should be able to easily find coins to add to my own collection but before we get working on that coin Grabber again I
00:00:26	thought we should quickly review some of the things that we've tried so far I thought I do a quick recap of what we've been doing over the last couple of videos because I recently changed my mind about how what direction to proceed
00:00:38	if you've been watching over the last few videos you'll see that we've gone through all these different versions of a coin Grabber that we're using to hold a penny in between two cameras what we're trying to do is to create a piece
00:00:54	for the robot that is in this form factor it rotates it's going to be in this position here and it's going to rotate three pennies through different positions on the coin robot one of those positions is going to hold the penny
00:01:08	between two cameras so this is the form factor that we wanted to end up with we started out by identifying the idea that you can pivot these plastic pieces into position so that they can actually hold on to a penny that's in in this hole
00:01:27	here but it has no control over there's no control over this z-axis here and it can bend that way which we don't want it to do and then once we kind of recognized that we worked through a couple of other designs we realized that
00:01:43	we wanted a mechanism to hold and release the penny so then we ended up with a little handle here that should PVE it back and forth this one didn't print very well but then we kept going this part is very similar to the last
00:01:57	one but we added a little a little bit more control of that Z AIS with the third dimension here which we talked about in the last video and that prevents this part from sliding in and out so we have control over it this
00:02:13	direction now so we're getting closer I felt pretty confident in this when we got to that point and I created a full siiz design of this and I printed it in different colors so that you could you could see the way that works
00:02:30	but what I didn't like about this was that you can actually actuate this this lever Here Without Really releasing the coin so I realized that if this plastic piece went entirely around this pivot
00:02:54	that would give it a little bit more control you would have a little bit more positive control of the penny holding it and releasing it the next few versions actually had a a pivot that was a complete circle and the lever
00:03:12	actually went completely around that pivot so that you had more control of it here so I was really happy with that design and I thought this was going to be the finished version cuz we could put a rubber band in between these two
00:03:26	pieces here and hold that closed that would make make ensure that the penny had positive control at all times and it was positively held and again we would know exactly when to release it by pushing on that lever and the penny
00:03:41	would fall out again I can show how that works here in theory so without doing anything it's holding on to the penny and when you push the lever the penny is released so
00:03:59	I really thought that this was the finished version and I was going to run with this um and I even created a a working prototype here where it had the three
00:04:12	positions and they all worked properly and I could put the rubber bands in there um the thing that I don't like about this though is that there's just too many parts again one of my design
00:04:26	criteria is that we reduce the part count as much as as possible and right now this piece has four parts plus three rubber bands that would go into these holes here and so all told that is seven pieces to create this final this final
00:04:45	piece and that is just the first part that I designed really for the robot so if we need seven pieces every time I create something for this finished robot th that part count is going to increase exponentially
00:05:01	that got me thinking about how to if I could print this entire thing in place that would be a huge Boon I was trying to do some testing to see if I could print these parts in place on top of this on top of this piece if I could do
00:05:21	that then I could call all of this a single piece and then I would just have the three rubber bands to attach but in my testing I was not able to get to a point where I could actually print everything in one in one piece and
00:05:37	still have the parts move my printer I haven't quite figured out how to do a layer this thin on top of another and still have the ability to rotate these pieces around what this ended up being was just another solid piece I mean I I
00:05:54	should have just printed out this this solid piece for all that this does um again this looks like what we had just shown you with the red and and black Parts but again none of these pieces move now if you press on any of this
00:06:09	lever here it doesn't really do anything because all of these are fused together so that just made me want to start from scratch in the next video I'm going to continue working on that compliant mechanism then I'm hopeful will reduce
00:06:25	the overall part count of the finished machine but for now that's my two cents thanks for watching everyone and stay awesome hey everyone it's future me I just wanted to take a moment to say that I've been doing some work on our website
00:06:36	at the coinb.in collecting the latest developments and machine learning and get early access to my YouTube videos