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KIT.md

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# The Kit



| Part | QTY | Ordered ? | Arrived ? | Kitted ? |

| --- | --- | --- | --- | --- |

| **Hardware** | --- | --- | --- | --- |

| FHCS M5x10 | x | x | x | x |

| FHCS M5x20 | x | x | x | x |

| FHCS M5x30 | x | x | x | x |

| FHCS M5x40 | x | x | x | x |

| SHCS M5x10 | x | x | x | x |

| SHCS M5x20 | x | x | x | x |

| Nylock M5  | x | x | x | x |

| Washer M5 | x | x | x | x |

| FHCS M3x8 | x | x | x | x |

| SHCS M3x8 | x | x | x | x |

| SHCS M3x16 | x | x | x | x |

| Nylock M3  | x | x | x | x |

| Washer M3 | x | x | x | x |

| [Aluminum Spacer](https://www.mcmaster.com/94669A042/) | 10 | x | x | x |

| [Eccentric Spacers](https://www.amazon.com/Micro-Traders-Eccentric-Aluminium-Extrusion/dp/B09CYK9P43/) | 10 | x | x | no |

| **Extrusion Situations** | --- | --- | --- | --- |

| [V-Groove Extrusion 2020](https://www.amazon.com/BC-Labs-Slot-Aluminum-Extrusion/dp/B092HD1353/) | 2x 1000mm | x | x | x |

| HFS5-2060 | 3x 2000mm | x | x | x |

| Extrusion Corner Brackets | 20 | x | x | x |

| [Extrusion Post-Install T-Nuts](https://www.amazon.com/Qjaiune-Aluminum-Extrusion-Printer-Profile/dp/B09H5B55ZG/) | x | x | x | x |

| **USB** | --- | --- | --- | --- |

| [8-Port Powered USB Hub](https://www.amazon.com/Sokiwi-Aluminum-Expender-Splitter-Individual/dp/B099YS5DGX/?th=1) | 1 | x | x | x |

| USB A to C Cables | 7 | x | x | x |

| [USB C to C 240W Cables](https://www.amazon.com/LISEN-Charger-Certified-Charging-MacBook/dp/B0CL26CTYG/) | 1 | x | x | x |

| [USB PD Charger](https://www.amazon.com/Charger-Charging-Station-Foldable-Portable/dp/B0C6K2PJJ8/) | 1 | x | x | x |

| [USB PD Decoys](https://www.amazon.com/Type-C-Trigger-Polling-Detector-Notebook/dp/B0BCW2LQP8) | 2 | x | x | x |

| **Motors** | --- | --- | --- | --- |

| [NEMA17 Motors](https://www.amazon.com/STEPPERONLINE-Stepper-Bipolar-4-Lead-Printer/dp/B00QEYADRQ/) | 5 | x | x | x |

| [Standard Size Servos](https://www.amazon.com/Youleke-Torque-Digital-Servo%EF%BC%8CWaterproof-Horn%EF%BC%88270%C2%B0%EF%BC%89/dp/B08739MGPL/) | 2 | x | x | x |

| [Mini Size Servos](https://www.amazon.com/Miuzei-MG90S-Servo-Helicopter-Arduino/dp/B0BWJ26PX2/) | 2 | x | x | x |

| **Transmission** | --- | --- | --- | --- |

| Kevlar 8800K43 | 50ft | x | x | no |

| [GT2 Pulleys](https://www.amazon.com/Printing-Zeelo-Fiberglass-Rostock-Printers/dp/B08SMFM3Z6/?th=1) | 4 | x | x | x |

| [GT2 Belt Open](https://www.amazon.com/Printing-Zeelo-Fiberglass-Rostock-Printers/dp/B08SMFM3Z6/?th=1) | - | x | x | x |

| GT2 Belt Closed 280mm | 2 | x | x | x |

| [6808 Bearings](https://www.amazon.com/XIKE-6808-2RS-Bearings-40x52x7mm-Pre-Lubricated/dp/B09D2VY3BK/?th=1) | 2 | x | x | x |

| [625 Bearings](https://www.amazon.com/uxcell-625-2RS-Bearing-5x16x5mm-Bearings/dp/B07TML6YP4/?th=1) | 10 | x | x | x |

| [625F Bearings](https://www.amazon.com/%EF%BC%BB12-Pack%EF%BC%BD625-2RS-Ball-Bearings-Miniature/dp/B0BRQP2QG7/) | 10 | x | x | x |

| [Standard Roller Wheels](https://www.amazon.com/Official-Creality-3D-Printer-Plastic/dp/B09QPG7XGR/) | 20 | x | x | x |

| [Small Roller Wheels](https://www.amazon.com/3Dman-Plastic-Pulley-Passive-Bearing/dp/B07V4GHLL8/) | 20 | x | x | x |

| **Misc** | --- | --- | --- | --- |

| [Limit Switches](https://www.amazon.com/JANDECCN-Switch-Straight-Action-V-153-1C25/dp/B0BDDCYTPP/) | 5 | x | x | x |

LINKS.md

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# Useful Design Notes



[How to Make Almost Anything: Mechanical Design](http://academy.cba.mit.edu/classes/mechanical_design/index.html)

[How to Make Almost Anything: Machine Design](http://academy.cba.mit.edu/classes/machine_design/index.html)

[How to Make Something that Makes Almost Anything](https://fab.cba.mit.edu/classes/865.21/index.html)



## MechE



[slocum: FUNdaMENTALS](http://pergatory.mit.edu/resources/fundamentals.html)  

[mechanical design principles](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/principles/)  

[transmissions](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/transmissions/)  

[kinematics](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/kinematics/)  

[materials](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/materials/)  

[common mechanical design patterns](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/approaches/)



## EE (power electronics):



[common switching architectures](https://fab.cba.mit.edu/classes/865.21/topics/power_electronics/architectures/)  

[commutating motors](https://fab.cba.mit.edu/classes/865.21/topics/power_electronics/commutation/)



## Metrology:



[accuracy vs. precision](https://fab.cba.mit.edu/classes/865.21/topics/metrology/01_concepts.html)



## MechE (examples)



- clank

- corexy (of dave)

- beehive axes

- clank-mudstack-extruder design pattern

- ... add some more
 
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README.md

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@@ -4,7 +4,12 @@ 
everything's connected but nothing's working !

```



# Your (Group) Task 

**Toiler Paper Plotter:** [Arch Section Repo](https://gitlab.cba.mit.edu/classes/863.23/Architecture/machine)  

**Damatictron:** [CBA Section Repo](https://gitlab.cba.mit.edu/classes/863.23/CBA/machine) / [CBA Section Website](https://fab.cba.mit.edu/classes/863.23/CBA/machine/index.html)   

**Gershenforcer:** [EECS Section Repo](https://gitlab.cba.mit.edu/classes/863.23/EECS/machine) / [EECS Website](https://fab.cba.mit.edu/classes/863.23/EECS/machine/index.html)  

**Photo Bleach:** [Harvard Section Repo](https://gitlab.cba.mit.edu/classes/863.23/Harvard/machine) / [Harvard Website](https://fab.cba.mit.edu/classes/863.23/Harvard/machine/index.html)   



# 1. Your (Group) Task



Each section will design and build a "machine" - this means anything that includes **mechanism, actuation, automation and application**, that just means:
@@ -20,158 +25,125 @@ The motion should be computer controlled. 


The motion should result in some desired outcome... maybe make something, draw something, change something, assemble something, sort something, cast a spell, etc.



> We can also think more broadly about "tools" - what does it mean to build a computer-controlled system that acts like a tool, interacting with the world but being mediated by some designer's intent... it's a [foamcore world](https://web.mit.edu/imoyer/www/portfolio/foamcore/index.html). 

--- 



# 2. Tools, Tools, Tools !



> [Ilan](https://web.mit.edu/imoyer/www/index.html) (inventor of [CoreXY](http://www.corexy.com/)) would urge us to think more carefully about "tools" - what does it mean to build a computer-controlled system that acts like a tool, interacting with the world but being mediated by some designer's intent... it's a [foamcore world](https://web.mit.edu/imoyer/www/portfolio/foamcore/index.html).



### Shaper Origin [[YouTube](https://www.youtube.com/watch?v=QxjE5WOAGi4)]



![origin](img/shaper_origin.webp)



### Turn-By-Wire [[UIST](https://dl.acm.org/doi/abs/10.1145/3332165.3347918)]



![tbw](img/turn_by_wire.jpg)



---



# Examples / Ideas 

# 3. Examples / Ideas



The machines you design and build **don't need to be complicated** - try to de-risk ideas early, and do stuff that "works right away" rather than complex projects that require hundreds of details to come together all at once in order to work. This can be fun; have fun.



### [Light Painting](img/maxl-hello-world.jpg)

### [Label Maker](https://www.youtube.com/watch?v=Y_rrbo6_42U&t=73s)

### [Wire Cutter](https://youtu.be/7E6iHRjvH_k?t=20)

### [Music Machines](https://youtu.be/dhKYxDzyXqI?t=5)

### [Music Machines](https://youtu.be/dhKYxDzyXqI?t=5) aka [Clangers / Bangers](https://ekswhyzee.com/2023/07/21/clangers-and-bangers.html) 

### [String / Floating Machines](https://youtu.be/dZLtPFJEQi0?t=104)

### [Architecture-Scale / Space Transforming](https://fab.cba.mit.edu/classes/865.21/people/gilsunshine/systems.html)

### [Claw Machine](https://youtu.be/zR3BLM_TAmg?t=117)

### [Robot Chainsaw Machine](https://youtu.be/ix68oRfI5Gw?t=1160)

### [Robot Basketball Hoop](https://youtu.be/myO8fxhDRW0?t=598)



# Examples from this Kit 

--- 



### Framing Gussets 

# 4. Strategies



! IMG of each, link to cad. Maybe a set of them "deployed" in a chassis. 

- teamworks! 

  - have a project manager 

  - divide into sub-teams, but talk often 

    - electronics / software

    - mechanism

    - documentation 

    - cad/cam ? 

- prototype in cardboard, mechanisms can move 'by hand'

- commit to your vision (no backtracking)

- spiral development !

- document all the time, it should be one person's job !

  - one page per team, 

  - note individual contributions on your page 



### Belt Axis 

---



! IMG of it, link to cad and BOM, or a readme-each? 

# 5. Examples from this Kit



### Leadscrew Axis 

### Framing



! IMG of it, link to cad. 

T gusset [[CAD](CAD/parts/gusset_T.f3z)][[stl](CAD/parts/gusset_T.stl)]



### A Rotary Axis 

<img src=img/gusset_T.png width=50%><br>



Using [the design pattern explained here](https://ekswhyzee.com/2019/04/09/gt2-belt-rotary-cad.html). 

Elbow gusset [[CAD](CAD/parts/gusset_elbow.f3z)][[stl](CAD/parts/gusset_elbow.stl)]



! IMG of it, link to cad. 

<img src=img/gusset_elbow.png width=50%><br>



## The Blot / Drawing Machine

### Belt Axis [[CAD](CAD/belt_axis/belt_axis.f3z)]



[The Blot](https://blot.hackclub.dev/) 

<img src=img/belt_axis.png width=50%><br>



## The Guhzylophone 

Kit [[stl](CAD/belt_axis/belt_axis_kit.stl)]



... 

<img src=img/belt_axis_kit.png width=50%><br>



## Air Drumming 

### Leadscrew Axis



... 

Assembly [[CAD](CAD/leadscrew_axis/leadscrew_axis.f3z)]



--- 

<img src=img/leadscrew_axis.png width=50%><br>



## MechE (examples)

Kit [[stl](CAD/leadscrew_axis/leadscrew_axis_kit.stl)]



- clank

- corexy (of dave) 

- beehive axes 

- clank-mudstack-extruder design pattern 

- ... add some more 

<img src=img/leadscrew_axis_kit.png width=50%><br>



## Examples

### Rotary Axis



- the blot (or some plotter: motion control, servo, stepper)

- xylophone (motion control, low-fet, stepper)

- drum stik (accel, low-fet)

Assembly [[CAD](CAD/rotary_axis/rotary_axis.f3z)] [[notes](https://ekswhyzee.com/2019/04/09/gt2-belt-rotary-cad.html)]



## Stable Circuits 

<img src=img/rotary_axis.png width=50%><br>



- stepper 

- servo 

- low-fet 

- BNO085 

Kit [[stl](CAD/rotary_axis/rotary_axis_kit.stl)]



## Making new Things 

<img src=img/rotary_axis_kit.png width=50%><br>



- how-to-add a new thing 

## The Blot / Drawing Machine [[notes](https://blot.hackclub.dev/)]



--- 

![blot](img/blot-clear-bg.png)



# The Kit 



| Part | QTY | Ordered ? | Arrived ? | Kitted ? |

| --- | --- | --- | --- | --- |

| **Hardware** | --- | --- | --- | --- |

| FHCS M5x10 | x | x | no | no |

| FHCS M5x20 | x | x | no | no |

| FHCS M5x30 | x | x | no | no |

| FHCS M5x40 | x | x | no | no |

| SHCS M5x10 | x | x | no | no |

| SHCS M5x20 | x | x | no | no |

| Nylock M5  | x | x | no | no |

| Washer M5 | x | x | no | no |

| FHCS M3x8 | x | x | no | no |

| SHCS M3x8 | x | x | no | no |

| SHCS M3x16 | x | x | no | no |

| Nylock M3  | x | x | no | no |

| Washer M3 | x | x | no | no |

| [Aluminum Spacer](https://www.mcmaster.com/94669A042/) | 10 | x | no | no |

| [Eccentric Spacers](https://www.amazon.com/Micro-Traders-Eccentric-Aluminium-Extrusion/dp/B09CYK9P43/) | 10 | x | no | no | 

| **Extrusion Situations** | --- | --- | --- | --- |

| [V-Groove Extrusion 2020](https://www.amazon.com/BC-Labs-Slot-Aluminum-Extrusion/dp/B092HD1353/) | 2x 1000mm | x | x | x |

| HFS5-2060 | 3x 2000mm | x | x | x |

| Extrusion Corner Brackets | 20 | x | x | x |

| [Extrusion Post-Install T-Nuts](https://www.amazon.com/Qjaiune-Aluminum-Extrusion-Printer-Profile/dp/B09H5B55ZG/) | x | x | x | x |

| **USB** | --- | --- | --- | --- |

| [8-Port Powered USB Hub](https://www.amazon.com/Sokiwi-Aluminum-Expender-Splitter-Individual/dp/B099YS5DGX/?th=1) | 1 | x | x | x |

| USB A to C Cables | 7 | x | x | x |

| [USB C to C 240W Cables](https://www.amazon.com/LISEN-Charger-Certified-Charging-MacBook/dp/B0CL26CTYG/) | 1 | x | x | x |

| [USB PD Charger](https://www.amazon.com/Charger-Charging-Station-Foldable-Portable/dp/B0C6K2PJJ8/) | 1 | x | x | x |

| [USB PD Decoys](https://www.amazon.com/Type-C-Trigger-Polling-Detector-Notebook/dp/B0BCW2LQP8) | 2 | x | no | no |

| **Motors** | --- | --- | --- | --- |

| [NEMA17 Motors](https://www.amazon.com/STEPPERONLINE-Stepper-Bipolar-4-Lead-Printer/dp/B00QEYADRQ/) | 5 | x | x | x |

| [Standard Size Servos](https://www.amazon.com/Youleke-Torque-Digital-Servo%EF%BC%8CWaterproof-Horn%EF%BC%88270%C2%B0%EF%BC%89/dp/B08739MGPL/) | 2 | x | no | no |

| [Mini Size Servos](https://www.amazon.com/Miuzei-MG90S-Servo-Helicopter-Arduino/dp/B0BWJ26PX2/) | 2 | x | x | x |

| **Transmission** | --- | --- | --- | --- |

| Kevlar 8800K43 | 50ft | x | no | no |

| [GT2 Pulleys](https://www.amazon.com/Printing-Zeelo-Fiberglass-Rostock-Printers/dp/B08SMFM3Z6/?th=1) | 4 | x | x | x |

| [GT2 Belt Open](https://www.amazon.com/Printing-Zeelo-Fiberglass-Rostock-Printers/dp/B08SMFM3Z6/?th=1) | - | x | x | x |

| GT2 Belt Closed 280mm | 2 | x | x | x |

| [6808 Bearings](https://www.amazon.com/XIKE-6808-2RS-Bearings-40x52x7mm-Pre-Lubricated/dp/B09D2VY3BK/?th=1) | 2 | x | no | no |

| [625 Bearings](https://www.amazon.com/uxcell-625-2RS-Bearing-5x16x5mm-Bearings/dp/B07TML6YP4/?th=1) | 10 | x | x | x |

| [625F Bearings](https://www.amazon.com/%EF%BC%BB12-Pack%EF%BC%BD625-2RS-Ball-Bearings-Miniature/dp/B0BRQP2QG7/) | 10 | x | x | x |

| [Standard Roller Wheels](https://www.amazon.com/Official-Creality-3D-Printer-Plastic/dp/B09QPG7XGR/) | 20 | x | x | x |

| [Small Roller Wheels](https://www.amazon.com/3Dman-Plastic-Pulley-Passive-Bearing/dp/B07V4GHLL8/) | 20 | x | x | x |

| **Misc** | --- | --- | --- | --- |

| [Limit Switches](https://www.amazon.com/JANDECCN-Switch-Straight-Action-V-153-1C25/dp/B0BDDCYTPP/) | 5 | x | x | x |

## The Xylophone 



---

![xylo](img/xylophone_teaser.jpg)



# Strategies

## Scara Arm [[YouTube](https://www.youtube.com/watch?v=1QHJksTrk8s&t=38s)]



- prototype in cardboard, mechanisms can move 'by hand' 

TODO



---



# Useful Design Notes

# 6. [The Kit](KIT.md)



[How to Make Something that Makes Almost Anything](https://fab.cba.mit.edu/classes/865.21/index.html) 

## [Modular Things !](https://github.com/modular-things/modular-things/)



## MechE

### [... Circuits](https://modular-things.github.io/modular-things/things/) 



[slocum: FUNdaMENTALS](http://pergatory.mit.edu/resources/fundamentals.html)  

[mechanical design principles](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/principles/)  

[transmissions](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/transmissions/)  

[kinematics](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/kinematics/)  

[materials](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/materials/)  

[common mechanical design patterns](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design/approaches/)

---



## EE (power electronics):

# 7. What to Do Now



[common switching architectures](https://fab.cba.mit.edu/classes/865.21/topics/power_electronics/architectures/)  

[commutating motors](https://fab.cba.mit.edu/classes/865.21/topics/power_electronics/commutation/)

- elect a contact-person (or dictator)

- have them contact us (Jake and Quentin) (contact info will be in a gitlab issue) 

- convene a kickoff meeting, schedule it with us!

- kits, demos, and more to come... 



## Metrology: 

--- 



[accuracy vs. precision](https://fab.cba.mit.edu/classes/865.21/topics/metrology/01_concepts.html)
 
# 8. [Extended Resources](LINKS.md)
 
 No newline at end of file

TODO.md

+13 −30
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## Machine Week Burner 

# Machine Week TODO 



- order more 1/64" lol 

- motion controller

	- use time-base for everything + always-on-loop, it's variable integration, that OK? 

	- pre-calculate "positional" trajectories in floating pt and then write traj. in fixedp, time-rekon like maxl 

- check in on orders...

	- incl. M3 long-ass-mfkers to do motor-circuit-mounting 

- add mud-bus circuit to the class-repo-thing (fusion) and the prints 

	- print a fekload of 'em 

- test belt, rotary and leadscrew axes

- add hardware to and post docs on belt, rotary and leadscrew axes 

- docs on framework corners 

- modular-things unfucking 

- fixed point simple motion controller... 

- make some demos using the ilk

## Demo Desires



- finish the xylophone, in-modular-things, and as a standalone ?

	- do it for the deploy / wall sitter 

- scara plotter ! 

- want a way to bottle demos

	- cad / cam / circuits, each as standalone mono-repo ? 

	- web UI is for sketching, deploy is different... 

- a plotter ? (servo and axes) 

	- a lil robot arm, 2dof 

	- ... accelerometer control the plotter and the robot arm

- a lil robot arm, 3dof 

- accelerometer-to-stage ? 

- etc-a-sketch the plotter

	- unfk the guhzylophone

- a walking robot ? it'd be a good demo for the graphs thing also, anyways... sequencing, etc... 


## Recitation / Delivery Plans



- Monday recitation: here's machines, here's examples, here's the task:

	- pick a point (dictator) person, they are our contact

	- someone who is stoked about machines,

	- do this, and you can get your kit (on thursday) 

	- start making plans 

- Wednesday: demos,

- Thursday: kits release 
 No newline at end of file

recitation.md

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## Rec 1



- bring each example axis 

- bring the blot 

- bring one kit 

  - image of each thing / notes on hardware 

- past years' work ... 

- other resources 



... should be ... 



- what you'll have to do,

  - mechanism, 

  - actuation, 

  - automation, 

- what this normally involves, architecturally ? 

  - it's the mess, but don't scare them ? 

- what are some fun ideas for machines we can build ?

  - scale can be small (remember you're going to bring the thing to class)

  - it can be simple (remember you have only a week!)

- what are some good resources ?

  - we have prepared some, 

    - incld. machine class content, of which... meche, 

    - incld. our example axes, etc, 

  - others have, 

    - slocum, ... 

    - open builds ? 

- what you should do:

  - elect a Machine Dictator (you can deploy democratic process internally, we want to have one point person)

  - have them contact Jake (WhatsApp) (617 230 0791) (jake.read@cba.mit.edu)

  - and Quentin 

  - convene a meeting to decide:

    - what to build, who to do what, when to work together, etc, 

  - invite us to the first meeting, 

  - we will bring you your kit of stuff to that first meeting 





## Rec 2



... a walkthrough of some nuts-and-bolts demos, 



- the xylophone, 

  - requires a representation of the plan (the sequencer) 

  - and an interface to it, 

  - requires some planning (when can we hit... what?) 

  - requires some actuation, 

  - and mechanical design... 

- the scara-arm

  - ... requires some kinematics, etc, 

- the resources are, broadly,

  - modules (of which any arduino project can become one such) 

  - mechanical bits and bops 

- adjoints

  - the extrusions use slide-in nuts, 

  - we commonly print 4.4mm hole to self-thread an M5, 

    - more beef wants hex inserts 
 No newline at end of file