For the last two weeks, I summarized the work of Mechanical logic and finished the draft of paper for upcoming ISER. The model for mechanical logic is needed and is the main focus for the following several weeks. I will build a model to help to predict the behavior of mechanical logic and guide the...

This week, the function for adding finger joint was improved. Now we can add joint to any edges that have the same length. When the dimention of edge is suitable to add finger joint with the selected material thickness, the finger joint will be added. Otherwise, we will automatically add glue joint...

This week, I spent most of time on reading reference to find the way to decrease the thredshold to actuate the bistable beam. As far as I know, there are several ways to achieve it. One of them is to move the actuation spot close to midpoint of bistable beam. And I modified my design according to th...

For last week, I made a lot of modification to our mechanical logic design and ran tests. Some issues were solved, such as short-circuit and contact problem. Now, the mechanical logic can snap at the first time, but always stop at the middle point in the way it should snap back. The bistable beam wa...

We are one more step close to the succeed for our printable autonomous robot. The snap threshold was decreased by modifying the design parameters, such as width of bistable beam. Now it seems it's the right time to build up equation for our mechanical logic to describe its behaviors and furthure hel...

For past week, I spend most of time on fixing the contact issue for mechanical logic. After lots of failure, I found the solution: conductive grease. By painting the conductive grease right on the interface between SCP actuator terminal and contact tab, a reliable current bridge was built up to assu...

Finally, the finger joints can be appropriately added into connection between selected subcomponents. The way we achieved this goal is to call specific arguments in make_output() function without adjusting our RoCo system. c.make_output(tabFace=maleFingerJoint,tabDecoration=maleFingerJointDecorati...

Throughout this week, I have discussed with other members of Roco team about how to improve the current interface. Ultimately, we agree that we should eliminate the current “right column”, which is currently the main interface to input new parameters of components and subcomponents. Such an interfac...

Finally, I made the mechanical logic works for several times though just single side of it. This is a great progress towards final goal. During past week, the uncoiling issue was eliminated by adjusting the annealing temperature and using thinner thread to form a mechanical stop. On the other hand,...

For last week, I designed new pattern to allow easily adjustment of the distance between bistable beam and contact tab. I made one model for this design. And the feasibility was verified. I also manufactured many SCP actuators and assembled them into our ML II to test the functionality. As mention...