KRAKEN

This project draws on the scientific fields of electronics and mechatronics being programmed and implemented in C++ from arduinos interface. The draft is focused on a robotic creation centered on Halloween as the main theme. The main objective of this subject planning is being able to implement all the coding knowledge into a bunch of robotic hardware in order to make an interactive system.

The principal concept carried out is a tentacle system that mixes a complex mechanical structure working by tension, joined with stepper motors that create tangential forces, triangulating these force sources by pulling and releasing rope in a controlled way giving way to organic movements. This whole system is meant to be controlled with a joystick.

1. PLA 3D printed discs
2. Nylon wire
3. Central tube
4. Base
5. Coils
6. Supports
7. Screws
8. Tape
9. Wood structure
10. Glass
11. Stockings
12. Rubber circles
13. Paint
14. Glue
15. 3 Steppers
16. Arduino Uno
17. 3 drivers
18. Protoboard
19. DuPont cable
20. Joystick

1. Set de base:On the wooden base, delimit the positions that each of the elements will occupy.

2. Assemble the structure:Insert the central tube in the middle hole and fix it with silicone. Next, place each disk at the proper height and fasten them with tape above and below to prevent them from moving on the vertical axis.

3. Fixing the discs: Once the discs are immobile, pass the nylon wire through the small holes and strengthen them with knots in the highest disc to prevent it from slipping out. Roll the excess of the tensioning cable on the coils and connect them to the motors.

4. Programming: Calculate the movement of each stepper and program the code using a joystick to control the rotation.

5. Exterior design: To get the final prototype to look like a kraken we have to cover the structure. First, attach the rubber discs to the stockings and paint them with red paint. Insert the structure inside the stocking and fix the end. Finally, cover the electrical system with the wooden structure and decorate it with rope, glass and blue paper which looks like sea water. Our idea is to create an exterior design that looks like a ship window which is being attacked by a Kraken.

   Finally we glued up the joystick in a visible part of the wooden structure. And now the Kraken is prepared to be moved.

During this project it is evident we found more problems than solutions, meaning that would be the main deduction, even though you have the necessary technical knowledge to carry out parts as coding or mechanical hardware implementation, it is almost impossible to perform a clean journey from start to the end. The most necessary skill is being able to endure the impediments until having something solid, although the final product is not what it was meant at first, especially as a student.

If we had to redo this project we would change a bunch of details in order to optimize the final system. These hypothetical changes are for us the most valuable knowledge learned given that we learned them from our own mistaken ideas, meaning we are capable of recognizing them and solving them