Today, I worked on constructing the complete prototype leg of my robot. I began by trying to figure out a way to extend the motor shaft long enough to reach the supporting structure placed on the opposite side of the stepper motors. My first idea was to buy a motor shaft adaptor, but this option was expensive and I would have to wait until the order arrived. Furthermore, I would need to re print one of the linkages to adjust to the increased diameter of the shaft adapter. 

My next idea was to screw a second motor handle wheels to the one already used to drive the upper leg and link it to the supporting sturcture with a short screw. While this option would increase the weight of the leg, I decided to use it because the materials used were abundant and I did not have to wait for new orders. Once the decision was made, I put myself to work on extending the shafts of both stepper motors.

During the process, I faced a number of challenges. For instance, i had to widen the screw holes to fit the screws that were used to link the two hand wheels together. In another’s case, I had to change the height of the lock nut in order for the screw to fit into the hand wheel. After a whole period dedicated to this task, I managed to solve all the issues and I succeeded in extending the motor shaft.

I also worked on reinforcing the support structure. While I initially tried to use a 3D printed piece to link the support structure to the main body of the robot, I decided to use acrylic instead, as it was simpler and took much less time to make. 

Next class, I plan on studying what Mr. Luis has sent me. I also plan on working on a testing rig, which I will be using on exhibition day.