# Machine Week 2024

```
everything's connected but nothing's working !
```

> [Controls Repository: machineweek-2024-control](https://gitlab.cba.mit.edu/jakeread/machineweek-2024-control)

# 1. Your (Group) Task

Each section will design and build a "machine" - this means anything that includes **mechanism, actuation, automation and application.** 

You'll get a [**kit of parts**](KIT.md) to do this, and we have [**an example linear axis**](TODO) and [**an example rotary axis**](TODO) that you can use as building blocks. We also have two example projects: [**a xylophone that plays itself**](TODO) and a [**small, very fast drawing machine**](TODO). We also provide a [**set of modular hardware and software for motion control**](https://gitlab.cba.mit.edu/jakeread/machineweek-2024-control) (requires a gitlab login) to help get things moving. 

You should also **document your machine** and **use git to collaborate** a-la last year's examples:

- CBA Section 2023: [repo](https://gitlab.cba.mit.edu/classes/863.23/CBA/machine) and [website](https://fab.cba.mit.edu/classes/863.23/CBA/machine/index.html)
- Harvard Section 2023: [repo](https://gitlab.cba.mit.edu/classes/863.23/Harvard/machine) and [website](https://fab.cba.mit.edu/classes/863.23/Harvard/machine/index.html) 

### **Mechanism:** mechanical degrees-of-freedom (DOF)

Stuff should move around!

- [Kinematics, Constraint](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design//kinematics/)
- [Mechanical Principles](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design//principles/)  

### **Actuation:** computer-controllable motion of the above DOFs

The motion should be computer controlled.

- [Stepper Controllers](https://gitlab.cba.mit.edu/jakeread/machineweek-2024-control/-/tree/main/circuits/simple-stepper?ref_type=heads) (TODO: improve doc) 
- [Transmissions](https://fab.cba.mit.edu/classes/865.21/topics/mechanical_design//transmissions/)  

### **Automation / Application** software-coordinated computer-control of the above, to accomplish a task. 

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

- [Path Planning](https://fab.cba.mit.edu/classes/865.24/topics/path_planning/index.html)  
- [Computer Vision ?](https://quentinbolsee.pages.cba.mit.edu/mas865.24_computer-vision/)  

---

# 2. 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.

### Xylo [(full source available)](LINK2PrivyRepo)  

TODO: ... upd8 xylo, put it here 

### VVelocity [(full source available)](LINK2PrivyRepo)

### 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)

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

TODO: fill in images of each of these, on this page 

### [Label Maker](https://www.youtube.com/watch?v=Y_rrbo6_42U&t=73s)
### [Wire Cutter](https://youtu.be/7E6iHRjvH_k?t=20)
### [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)

--- 

# 3. Strategies

- 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 

---

# 4. Examples from this Kit

## The Xylophone 

![xylo](img/xylophone_teaser.jpg)

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

TODO

### Framing

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

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

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

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

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

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

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

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

### Leadscrew Axis

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

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

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

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

### Rotary Axis

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

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

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

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

---

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

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

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

---

# 6. How to Start 

- 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!
  - we will bring your kit-of-parts to the meeting! 

--- 

# 7. [Extended Resources](LINKS.md)

---

# 8. Prior Years

- [Machine Week 2023](https://gitlab.cba.mit.edu/jakeread/machineweek-2023)