In the previous post, I mentioned already that the Candy Crane does ‘in principal’ what it has to do, but the movements were not smooth enough and the accuracy was also a problem. In the last weeks, I have improved the movement and positioning. Below you find the final version:
And the LDD version:
This final version of the Candy Crane is controlled by two EV3 bricks:
1. Brick 1 (in the right tower) controls the movement of the complete crane:
- Two touch sensors are used for the positioning.
- Due to the weight (~1.5 kg), I have to use two M-motors (which are mechanically connected) to move the crane. One motor didn’t had enough torque. Another problem was the force on the axles when I used one motor. The motor movement had to go ‘all the way’ to the other tower. I was afraid that the axles would break due to the weight they had to move.
2. Brick 2 (in the hoist) controls the movement of the hoist and the grabber:
- Y-movement of the hoist. The hoist is moved by an M-motor, the positioning is done by a color sensor.
- Z-movement of the grabber. The grabber is also moved by an M-motor, the positioning is also done by a color sensor.
- The grabber is controlled by a third M-motor.
The two bricks are connected by a flexible USB cable (Belkin) in Daisy Chain modus. This means that the two bricks are seen as one large brick. Both EV3’s are running on a rechargeable battery (all the motor movements consume lots of energy).