In historical times, before the pandemic, most people had to commute to work in the mornings, and breakfast often ended up being a bit rushed. [Elite Worm] is very serious about getting his breakfast mix exactly right, and o shave a bit of time off the prep, he built a 3D printed automatic ingredient dispenser for his breakfast bowl.
[Elite Worm] breakfast consists of four ingredients, that have either a powder or granular consistency. They are held in 3D printed hoppers, with a screw top for refilling and a servo-operated door with a funnel at the bottom. The hoppers need to be shaken to properly dispense the ingredients, so all four are mounted on a bracket that can slide up and down on linear bearings. The shaking is done by a brushed DC motor with a slider-crank mechanism, which moves bracket and hoppers up and down very vigorously. [Elite Worm] notes that the shaking is probably a bit too violent and can make the entire table shake if it isn’t sturdy enough, and reducing the motor RPM might be a good idea. Below the hopper system sits a movable weighing station with a load cell, a custom ATmega328P based control board and a Nextion touch screen display, which allows for various ingredient combinations to be saved. The load cell is used to keep track of the ingredient quantities by weight, as they are dispensed one at a time.
Several videos are devoted to mechanisms, like the humble gumball machine, the grand piano, and the combination lock. In addition to all the great how-it-works videos, [Jared] explores various noteworthy buildings. You know there’s a bowling alley in the White House, right? [Jared]’s tour shows you exactly where it is.
You may think you’ve never heard of Greg Zumwalt, but if you’ve spent any time on Instructables or Thingiverse, chances are pretty good you’ve seen some of his work. After a long career that ranged from avionics design and programming to video game development, Greg retired and found himself with the time to pursue pet projects that had always been on the back burner, including his intricate 3D-printed automata. His motto is “I fail when I decide to stop learning,” and from the number of projects he turns out and the different methods he incorporates, he has no intention of failing.
You are, of course, encouraged to add your own questions to the discussion. You can do that by leaving a comment on the Learning Through Play Hack Chat and we’ll put that in the queue for the Hack Chat discussion.
Click that speech bubble to the right, and you’ll be taken directly to the Hack Chat group on Hackaday.io. You don’t have to wait until Wednesday; join whenever you want and you can see what the community is talking about.
The now-humble PCB was revolutionary when it came along, and the whole ecosystem that evolved around it has been a game changer in electronic design. But the PCB is just so… flat. Planar. Two-dimensional. As useful as it is, it gets a little dull sometimes.
Here’s your chance to break out of Flatland and explore the third dimension of circuit design with our brand new Flexible PCB Contest.
We’ve teamed up with Digi-Key for this contest. Digi-Key’s generous sponsorship means 60 contest winners will receive free fabrication of three copies of their flexible PCB design, manufactured through the expertise of OSH Park. So now you can get your flex on with wearables, sensors, or whatever else you can think of that needs a flexible PCB.
Saber 2 is a 3D-printed gear-and-cam saber-toothed tiger that can be motorized to show an excellent loping movement. It’s 14” long and 10” tall and consists of 108 components of which 34 are unique parts, and it all moves with the help of a 6 VDC 60 RPM gearmotor. With threaded PLA rods to keep it all together, and tapped holes to secure the rods, one imagines the printer would have to be pretty finely tuned and leveled for the parts to move as elegantly as you see in the video.
3D printers are great for creating static objects, but if you’re clever, it’s possible to print functional devices. If you’re absolutely brilliant you can go far beyond that, which is the case here. This door handle with a key-code lock does it all with 3D printing using mechanism designs that look like alien technology. This is just one application of a much more interesting mechanical digital logic they’re developing (PDF).
Working from the [Hasso-Plattner-Institut], the research team is focusing on metamaterials as mechanisms in and of themselves. The crux of this lock is a series of bistable springs that — if the correct code is entered — will trigger in series to unlock the door. The project builds on the grid of shearing cells seen in the door handle we featured last year. It happens quickly in the video, but the intricate cascade of the handle unlocking is a treat to witness.
It’s a fascinating show of mechanical design. The common elements of digital electronics are all present: set or unset bits, logic gates, propagation issues, the whole works. But there are added challenges in this system, like the need for special cells that can turn the logic chain by 90 degrees and split the signal into more than one part.
This signal splitting is seen in the upper right (bifurcation) and leads into what is in effect an amplifier. The locking bolt must be moved twice the distance of a normal cell, so a dual-cell input is necessary to offset the loss of force from the incoming smaller cells. Cognitively we understand this, but we’re still trying to gain an intuitive sense of the amplifer mechanism.
One thing’s for sure, the overall concept is far cooler than this admittedly awesome door lock mechanism. The paper is worth your time for a deep dive. It mentions their design editor software. You can play with it online but we don’t think it’s been updated to include the new logic cells yet.
The four bar linkage is a type of mechanical linkage that is used in many different devices. A few examples are: locking pliers, bicycles, oil well pumps, loaders, internal combustion engines, compressors, and pantographs. In biology we can also find examples of this linkage, as in the human knee joint, where the mechanism allows rotation and keeps the two legs bones attached to each other. It is also present in some fish jaws that evolved to take advantage of the force multiplication that the four bar mechanism can provide.
How It Works
The study of linkages started with Archimedes who applied geometry to the study of the lever, but a full mathematical description had to wait until the late 1800’s, however, due to the complexity of the resulting equations, the study and design of complex linkages was greatly simplified with the advent of the digital computer.
Mechanical linkages in general are a group of bodies connected to each other to manage forces and movement. The bodies, or links, that form the linkage, are connected to each other at points called joints. Perhaps the simplest example is the lever, that consists of a rigid bar that is allowed to pivot about a fulcrum, used to obtain a mechanical advantage: you can raise an object using less force than the weight of the object.
Two levers can be connected to each other to form the four bar linkage. In the figure, the levers are represented by the links a (A-D) and b (B-C). The points A and B are the fulcrum points. A third link f (C-D) connects the levers, and the fourth link is the ground or frame g (A-B) where the mechanism is mounted. In the animation below, the input link a (the crank) performs a rotational motion driving the rocker rod b and resulting in a reciprocating motion of the link b (the rocker).
This slider-crank arrangement is the heart of the internal combustion engine, where the expansion of gases against a sliding piston in the cylinder drives the rotation of the crank. In a compressor the opposite happens, the rotation of the crank pushes the piston to compress the gas in the cylinder. Depending on how the mechanism is arranged, it can perform the following tasks:
convert rotational motion to reciprocating motion, as we just discussed above.
convert reciprocating motion to rotational motion, as in the bicycle.
constrain motion, e.g. knee joint and car suspension.
magnify force, as in the parrotfish jaw.
One interesting application of the four bar linkage is found in locking pliers. The B-C and C-D links are set at an angle close to 180 degrees. When force is applied to the handle, the angle between the links is less than 180 (measured from inside the linkage), and the resulting force in the jaws tries to keep the handle open. When the pliers snap into the locked position that angle becomes less than 180, and the force in the jaws keeps the handle in the locked position.
In a bicycle, the reciprocating motion of the rider´s legs is converted to rotational motion via a four bar mechanism that is formed by the two leg segments, the bicycle frame, and the crank.
As with many other inventions of humankind, we often find that nature has already come up with the same idea via evolution. The parrotfish lives on coral reefs, from which it feeds, and has to grind the coral to get to the polyps inside. For that job, they need a very powerful bite. The parrotfish obtains a mechanical advantage to the muscle force by using a four bar linkage in their jaws! Other species also use the same mechanism, one is the Moray eel, shown in the image, which has the very particular ability to launch its jaws up in the mouth to capture its prey, much like the alien from the film series.
The joints connecting the links in the linkage can be of two types. A hinged joint is called a revolute, and a sliding joint is called a prismatic. Depending on the number of revolute and prismatic joints, the four bar linkage can be of three types:
Planar quadrilateral linkage formed by four links and four revolute points. This is shown in the animation above.
Slider-crank linkage, formed by three revolute joints and a prismatic joint.
There are a great number of variations for the four bar linkage, and as you can guess, the design process to obtain the forces and movements that we need is not an easy task. An excellent resource for the interested reader is KMODDL (Kinematic Models for Design Digital Library) from Cornell University. Other interesting sites are the 507 mechanical movements, where you can find nice animations, and [thang010146]’s YouTube channel.
We hope to have piqued your curiosity in mechanical things. In these times of ultra fast developments in electronics, looking at the working of mechanisms that were developed centuries ago, but are still present and needed in our everyday lives can be a rewarding experience. We plan to work on more articles featuring interesting mechanisms so please let us know your favorites in the comments below.