Machine Building Project

Members: Hajime Itoh / Koji Yamada

Project Output

Group Assignment Overview

This is the group assignment of the week.

  - Design a machine that includes mechanism+actuation+automation+application;     
  - Build the mechanical parts and operate it manually;                         
  - Document the group project and your individual contribution;

  - Actuate and automate your machine;
  - Document the group project and your individual contribution

1. Machine to Make: Fishing Game Machine

For our group assignment, we have decided to make a fishing game machine. Building on the CoreXY module, we add the mechanism to lift up/down the fishing line to catch a fish.

Mechanism: We make a box structure with T-slotted aluminum flaming rails and place the CoreXY module on the box. We place a stepper motor on the X-axis carriage so that the capstan pulley attached to the stepper motor could reel up the fishing line. We put a magnet on the tip end of the thread. Meanwhile, we spread out the fishes and other sea animals on the bottom of the acquarium. They are made of the cardboard and cut out by the lasercutter. We put a clip or a bolt on the game.

1. Starting from the XYZ origin, the users move the carriage to the XY position where they want to put down the fishing line to the bottom of the acquarium.

2. Once the carriage reaches the target XY position, they stop moving the carriage and start putting down the fishing line. After a few seconds, the stepper motor starts moving to the opposit direction and lifts up the line.

3. Once the float is lifted up enough to touch the fishing rod, the stepper motor stops.

4. Then the users move the carriage to the XYZ origin to release the fish.

This kind of game machines could attract kids when we display them in an event such as Maker Faires. Also, if we have enough time, we could convert it to a claw clane, replacing the magnet with two or three fingers to pick up stuffed toys or snacks. We did consider that possibilities. But due to the time constraint, we decided to go for a simple magnet.

2. Fundamental Module: CoreXY

CoreXY is the foundation on which we thought over about the expansion of the fabrication tools in the rectangular cartesian coordinate system. It has two stepper motors which move in a syncronized manner so that the carriage moves from one XY coordinate to another.

2-1. Purchasable Components

CoreXY module alone consists of many parts. Some of them are purchased in the local hardware shops or the e-commerce platforms. Others should be designed according to our requirements and made locally. The following tables are the list of the parts we prepared for assembling the CoreXY module alone.

(1) Flame

SN	Item	Details	Qty	Remarks
1	2020Aluminum Extrusion(Y)	ex.400mm	2P
2	2020Aluminum Extrusion(X)	ex.300mm	2P	3mm Acrylic spacer will be added
3	2020Aluminum Extrusion(X)	ex.300mm	1P
4	Delta Socket		4P
5	Socket Head Screws	M5x8mm	8P
6	T-Slot	M5	8P
7	Non-stretch fishing line

(2) Y-axis Pulley *2 units required for both sides.

SN	Item	Details	Qty	Remarks
8	Socket Head Screws	M5x30mm	1P	Inner wheels
9	V-slot Wheel		1P	Inner wheels
10	Spring Washer	M5	1P	Inner wheels
11	Washer	M5	1P	Inner wheels
12	Nut	M5	1P	Inner wheels
13	Socket Head Screws	M5x30mm	1P	Outer wheels
14	V-Slot Wheel		1P	Outer wheels
15	Spring Washer	M5	1P	Outer wheels
16	Acrylic Spacer	5mm	1P	Outer wheels
17	Washer	M5	1P	Outer wheels
18	Nut	M5	1P	Outer wheels
19	Socket Head Screws	M5x8mm	2P
20	T-Slot	M5	2P

(3) Y-axis Carriage *2 units required for both sides.

SN	Item	Details	Qty	Remarks
21	Socket Head Screws	M5x40mm	1P	Inner wheels
22	V-Slot Wheel		1P	Inner wheels
23	Spring Washer	M5	1P	Inner wheels
24	V-Slot Wheel	1P	Inner wheels
25	Spring Washer	M5	1P	Inner wheels
26	Nut	M5	1P	Inner wheels
27	Socket Head Screws	M5x30mm	1P	Outer wheels
28	V-Slot Wheel		1P	Outer wheels
29	Nut	M5	1P	Outer wheels
30	Socket Head Screws	M5x8mm	2P
31	T-Slot	M5	2P

(4) Y-axis Motor *2 units required for both sides.

SN	Item	Details	Qty	Remarks
32	Stepper Motor	NEMA17 17HS4401 1.5A 42x42x38mm	1P	Motor
33	Socket Head Screws	M3x8mm	4P	Motor
34	Socket Head Screws	M5x30mm	1P	Pulley
35	Bearing	D16xd5xH5	2P	Pulley
36	Spring Washer	M5	1P	Pulley
37	Washer	M5	1P	Pulley
38	Spring Washer	M5	1P	Pulley
39	Nut	M5	1P	Pulley
40	Socket Head Screws	M5x8mm	2P
41	T-Slot	M5	2P

(5) X-axis Carriage

SN	Item	Details	Qty	Remarks
42	Socket Head Screws	M5x30mm	4P
43	V-Slot Wheel		4P
44	Nut	M5	1P
45	Socket Head Screws	M3x15mm	2P	Non-stretch fishing line holder
46	Washer	M3	2P	ditto.
47	Nut	M3	2P	ditto.

(6) Limit Switch *2 units required for both X and Y axes.

SN	Item	Details	Qty	Remarks
48	Limit Switch		1P
49	Screw	M2x12mm	2P
50	Nut	M2	2P
51	Socket Head Screws	M5x8mm	1P
52	T-Slot	M5	1P

2-2. Local-Made Components

Also, we designed some parts and either 3D-printed or laser-cut them. Some of them were downloaded from Quentin Bolsee’s Machine Workshop at FAB23 and others were slightly modified from the original on the same site.

SN	Item	Image	Purpose	Data	QTY
53	Capstan Motor		For stepper motor	STL	2P
54	Capstan Pulley		For stepper motor	STL	2P
55	Stud 4pcs		For rolling pulley smoothly	STL	5P
56	X-axis Carriage		For mounting X-carriage	STL	2P
57	X-axis Carriage		For holding strings	STL	1P
58	Y-axis Pulley		For mounting pulleys on Y-axis	STL	2P
59	Y-axis Carriage		For mounting Y-carriage	F3Z	2P
60	Y-axis Motor		For mounting stepper motor	F3D	2P

We did all the preparations based on the past model made by our instructor. He shared one issue he faced after making his own prototype: Diameter of the stud was larger than the corner radius of the pulley holders (See the photo below). We had two options: size reduction of the stud, or enlargement of the carriage. After a little trial for the first, we have decided to go for the second option. Therefore, both the X-axis Carriage (SN56) and the Y-axix Carriage (SN59) were remodelled from the oridinal design downloaded.

In addition to the above open-source data, we had to design a couple of customized components.

• Spacer: Although we used three 30mm flaming rails for horizontal connection, one in the middle had to be a little shorter than the other two, in order to ensure the smooth movement of the Y-carriages. We had two options: cutting a little shorter the one in the middle, or adding a spacer to one of the edges of the other two rails. We decided to prepare a 3mm spacer by laser-cutting the acrylic board, and place it between the 30mm rail and the 40mm rail.

STL

• Limit Switch: In order to avoid the overrun of the X and Y carriages, we had to place two limit switches. The switch has two screwholes and three legs. Therefore, taking all the measurements, we designed a small block to mount the switch and attach to the flaming rail.

STL

Please check here for the process of assembling the CoreXY module.

3. Additional Structure

It was only after we set up the CoreXY module when we came to a conclusion that we would make the fishing game machine.

3-1. Aquarium

There were extra sets of flaming rails and other parts, which we should purchase but were already in stock in our lab. Therefore, we decided to make use of the in-stock parts as much as possible.

SN	Item	Details	Qty	Remarks
61	2020Aluminum Extrusion(Y)	ex.400mm	4P	2 rails are used for horizontal connection on the bottom
62	2020Aluminum Extrusion(X)	ex.300mm	4P
63	Delta Socket		8P
64	Socket Head Screws	M5x8mm	16P
65	T-Slot	M5	16P

Besides the above parts, we found that there were acrylic surface brackets already laser-cut.

SN	Item	Details	Qty	Remarks
66	L-brackets	laser-cut acrylic	8P	2P for each corner of the bottom, 4 screw holes
69	Socket Head Screws	M5x8mm	32P
70	T-Slot	M5	32P

Making full use of the existing parts, we could assemble the acquarium structure. We could have cut the 40mm flaming rails by 10mm to use as a flame that would connect the longer sides on the bottom. But we didn’t do it and decided to use them as they were.

3-2. Fisherman Module

We first looked at the size of the stepper motor (SN32). When we looked at the Amazon website of the Nema 17 Stepper Motor, 17HS4401, we could find the specifications of the stepper motor.

Based on the above information, we started designing the fisherman image cutout. We planned to prepare two image cutout and put the motor shaft through. The minimum distance of the two cutouts is defined by the width of the string stopper of the X-axis Carriage (SN57) and it’s 11mm.

SN	Item	Image	Data	QTY	Remarks
71	Fisherman Image Cutout		SVG1/SVG2	2P	One should only have one hole for motor shaft and two screw holes for Socket Head Screws
72	Capstan		STL	1P	Height: 1.50mm
73	Aluminum Pipe			1P	For fishing rod
74	Non-stretch fishing line
75	Fishing Rod Holder		STL	2P	For holding the fishing rod. Innder diameter: 0.64mm, Width: 1.70mm
76	Spacer Pipe		STL	2P	For holdign the socket head screws. Inner diameter: 0.51mm
77	Socket Head Screws			2P	M5x8mm
78	Nut			2P	M5
79	Magnet with a Hole			3P
80	Spacer Pipe Holder		STL	1P	For holding the module attached to the X-carriage
81	Screws			2P	M2x12mm
82	Nut			2P	M2

After the assemble of all the above-listed items, the fisherman module looked like the following photo.

We first made the module and just placed it on the X-axis Carriage. Since the stepper motor is attached to one side, the center of gravity is also inclined to the stepper motor side. The instability of the module remained as an issue.

Therefore, we decided to prepare a 20mm x 20mm x 4mm spacer under the stepper motor and the Spacer Pipe Holder (SN80) that connects the X-axis Carriage and the Spacer Pipe. Since we only had M2x12mm screws for the 2mm holes of the X-axis Carriage, we prepared another 2mm acrylic spacer pipes for the screws. With these two measures, the fisherman module was stably held on the X-axis Carriage.

Next we worked on the decoration of the fisherman. Originally it consisted of the two acrylic boards but looked a bit ugly. Therefore, we designed a straw hat as well as the spacers that would connect the two fisherman shapes. Now it looks like one single body.

Note: At a later stage of programming, we faced a problem of inconsistent reeling down of the fishing hook (magnet, in our case). Sometimes it reached the bottom of the aquarium but sometimes it stopped a few centimeters above the bed. One possibility of this problem is that the shape of the capstan we designed. Originally we designed it so that it had V-shaped groove. But with this, depending on the point the fishing line is reeled up, the travel distance of the fishing line may vary with one round of the stepper motor. We should have tried other shapes, such as the one with a flat bottom. After discussion, we decided to include this inconsistency could be integrated as part of the game and go with the original capstan design.

4. Game Design

The design principle of the game is as follows:

(1) Operations are made by a laptop attached to the machine.

(2) Once the operator press the START button in the program app, the Fisherman first goes to the Home position (X, Y = 0, 0).

(3) The operator moves the Fisherman to the XY cordinates he/she wants. He/She has to move to the XY coordinates by clicking the X/Y buttons in the program app a few times.

(4) Once the Fisherman reaches the target XY coordinates, the operator starts reeling down the magnet. Then the magnet goes down to the aquarium bed.

(5) After a few seconds, say 1 second, the stepper motor starts moving upward automatically, no matter if the magnet could catch a fish or not.

(6) The Fisherman moves back to the Home position.

(7) The operator releases the fish.

5. Stepper Motor Board

5-1. Board Design

The controller board design is based on our instructor’s experience in the 2024 Fab Instructors’ Bootcamp, where they worked on prototyping of the Modular Things Core-XY. It was designed with Fusion Electronics and the design data were created in terms of PNG files.

https://academany.fabcloud.io/fabacademy/2024/bootcamp-instructors/workshops/modular-things-coreXY/#board

5-2. Firmware

For the firmware we used, please refer to the instruction page of the FabLab Kannai-Fab Academy 2024 site.

Arduino Library

We imported the Arduino-OSAP (Open Systems Assembly Protocol) libraries. First, we downloaded the Zip file from the OSAP-Arduino GitHub. Next we opend the Arduino IDE and then went to “Sketch” >> “Include Library” >> “Add Zip Libary…” and upload the Zip file.

Simple-Stepper Sample Sketch

We downloaded the Zip file for simple-stepper Arduino sketch for Xiao board in the FabLab Kannai Fab Academy 2024 Tips site.

5-3. BOM

For the BOM, please go to the Modular-Things CoreXY page of the Fab Academy Instructor Bootcamp 2024.

6. Equipment Required for Wiring

SN	Item	Image	Data	QTY	Remarks
83	USB 3.0 Hub		https://www.amazon.co.jp/dp/B0797NWDCB?th=1	1	60W 12V/5A (HB-B7C3)
84	USB Type C cable		https://www.amazon.co.jp/dp/B09B1S259F?th=1	3	USB-C & USB-A 3.0
85	Less-/Non-stretch fishing line		https://www.amazon.co.jp/dp/B07GF7M38R?th=1	1	130LB/58.96KG 150M

7. Program

・The task of stabilizing the movement of stepper motors, such as making them wind up the same length of fishing line that has been let out.

・If the script contains an error, the screen turns blank.

It took a considerable amount of time to solve these issues, and as a result, We had to give up on adding features to improve operability or keyboard-based controls. 　

But getting to work with JavaScript for the first time was a very good experience.

//Code_yuichi4
// warning: without a powered usb-hub, currentScale > 0.5 are likely to fail 
//
//Open browsers DevTools console with
// cmd + shift + j (Linux)
// ctrl + shift + j (win)
// command + option + j (mac)
//<button id="Start" style="background-color:yellow;"> Start</button>
//https://fabacademy.org/2024/labs/kannai/Instruction/tips/machine_building/
//<img src="https://fabacademy.org/2024/labs/kannai/images/logo2022-yoko-w_transp.png" alt="FabLab Kannai" width="200">
//<audio id="audio" src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/baby-shark.mp3" preload="auto"></audio>

// <img id="countdownImage" src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/3.png" alt="Countdown Image" width="70">
// UI in View tab
const el = document.createElement("div");

el.style = `
  padding: 10px; 
`

el.innerHTML = `
<audio id="audio" src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/baby-shark.mp3" preload="auto"></audio>
<h2><font color="#5B9BAF">FabAcademy2024</font></h2>
<h3><font color="#5B9BAF">Machine Building GroupJP</font></h3>
<font color="#5B9BAF">Modular Things Core XY</font>
<br>
<img src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/greatwave.png" alt="FabLab Kannai" width="100">
<br>

<p>
<hr>
<table>
    <tbody>
        <tr>
            <td></td>
            <td><button id="yPlus">  <img src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/up.jpg" width="50" /></button></td>
            <td></td>
            <td>&nbsp;&nbsp;&nbsp;&nbsp;</td><!-- space in 3rd column-->
            <td><button id="Up"> Z+ </button></td>
        </tr>
        <tr>
            <td><button id="xMinus">  <img src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/left.jpg" width="50" /> </button></td>
            <td></td>
            <td><button id="xPlus">  <img src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/right.jpg" width="50" /> </button></td>
            <td></td>
            <td></td>
        </tr>
        <tr>
            <td></td>
            <td><button id="yMinus">  <img src="https://fabacademy.org/2024/labs/kannai/Machine_Building_Project_JPN/code/down.jpg"width="50" /> </button></td>
            <td></td>
            <td></td>
            <td><button id="Down"> Z- </button></td>
        </tr>
    </tbody>
</table>

<hr>
<p>
<button id="Fishing"  style="background-color:cyan;"> Go Fishing!!</button>
&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp&nbsp
<button id="up"> ↑</button>
<button id="down"> ↓</button><p>

===How to Play the Game===<p>
1.Use the arrow buttons to set the position of the fisherman.<p>
2.Press the [Go Fishing] button to catch the fish.<p>
<p>
<button id="Home"> Home</button>
<button id="DrawSquare"> DrawSquare</button>
<button id="DrawStar"> DrawStar</button>
<button id="Draw"> Draw</button>
<button id="Test"> Test</button>
<hr>
<p>
Open browsers DevTools console with<br>
cmd + shift + j (Linux)<br>
ctrl + shift + j (win)<br>
command + option + j (mac)
</p>
`

//test button
//================================
el
  .querySelector("#Test")
  .addEventListener("click", () => {
    delay(100);
    test();
    //drawPolugon();
  })

 function test() {
  machine.setPosition([0, 0]);
  goTo(10,10 );
}
//================================

//Synchronizer of two motors
const machine = createSynchronizer([motorA, motorB]);

//Definition of CoreXY Motion 
async function goTo(x,y){
  console.log(`Moving to (${x}, ${y})`);
  await machine.absolute([1*(x+y),1*(x-y)]); // The reason why "-1" is multiplied may be due to the wiring and origin position.
}

// Set button ID and click_event
el
  .querySelector("#xPlus")
  .addEventListener("click", () => {
     xPlus();
  })

el
  .querySelector("#xMinus")
  .addEventListener("click", () => {
     xMinus();
  })

el
  .querySelector("#yPlus")
  .addEventListener("click", () => {
     yPlus();
  })

el
  .querySelector("#yMinus")
  .addEventListener("click", () => {
     yMinus();
  })

el
  .querySelector("#Fishing")
  .addEventListener("click", () => {
    Fishing();
  })

el
  .querySelector("#up")
  .addEventListener("click", () => {
    up();
  })
el
  .querySelector("#down")
  .addEventListener("click", () => {
    down();
  })

el
  .querySelector("#Home")
  .addEventListener("click", () => {
    goToHome();
  })

el
  .querySelector("#DrawSquare")
  .addEventListener("click", () => {
    delay(100);
    drawSquare();
  })

el
  .querySelector("#DrawStar")
  .addEventListener("click", () => {
    delay(100);
    drawStar();
  })

el
  .querySelector("#Draw")
  .addEventListener("click", () => {
    delay(100);
    draw();
  })


render(el);


// When you start running this javascript code, the machine runs from here

//motor setting
motorA.setCurrent(1);
motorA.setStepsPerUnit(5);
motorA.setAccel(20);
motorB.setCurrent(1);
motorB.setStepsPerUnit(5);
motorB.setAccel(20);
machine.setPosition([0, 0]);// set present position as (X0,Y0)
//machine.setPosition(0, 0);// CHECK this syntax works or not

motorC.setCurrent(0.8);
motorC.setStepsPerUnit(5);
//motorC.setAccel(50);

//const isAtEndStopX = false;
//console.log(isAtEndStopX);

async function Fishing(){
  playAudio();  //Play Audio
//  motorC.absolute(1000);
  motorC.relative(1150);
  console.log('down');
  await delay(15000);  

 // motorC.absolute(0);
  motorC.relative(-1150);
  console.log('up');
  await delay(15000);  
  console.log('mute');
  muteAudio();//Mute Audio and
 goToHome();
}

async function up(){
    motorC.relative(-100);
    await delay(1000);  
}

async function down(){
    motorC.relative(100);
    await delay(1000);  
}


// Function definition
async function goToHome(){
  while(await motorB.getLimitState()){ // Limit switch at X- as Normally-Open
    motorA.velocity(-10);//move motorA CW -> CCW
    motorB.velocity(-10); //move motorB CW -> CCW
  }
  while(await motorA.getLimitState()){ //  Limit switch at Y- as Normally-Open
    motorA.velocity(-10); //positive value means CW -> CCW
    motorB.velocity(10);//negative value means CCW -> CW
  }
  motorA.velocity(0);
  motorB.velocity(0);
  machine.setPosition([0, 0]);
  await delay(1000);
  goTo(10,10 );
//  machine.setPosition([0, 0]);
  await delay(1000);

}//end of goToHome



function xPlus() {
    //zUp();
    machine.setPosition([0, 0]);
    for ( i = 0; i<10; i++){
     goTo(i,0 );     
    }  
}

 function xMinus() {
    //zUp();
    machine.setPosition([0, 0]);
    for ( i = 0; i<10; i++){
     goTo(-i,0 );
    delay(200);
  }
}

function yPlus() {
    //zUp();
    machine.setPosition([0, 0]);
    for ( i = 0; i<10; i++){
     goTo(0,i );
  }
}

 function yMinus() {
     //zUp();
    machine.setPosition([0, 0]);
    for ( i = 0; i<10; i++){
     goTo(0,-i );
  }
}

async function drawSquare(){
  //down();
  for (let i = 0; i < ptsSquare.length; i++){
    await goTo(ptsSquare[i][0], ptsSquare[i][1]);
    await delay(200);  
  }
  //zUp();
}

async function drawStar(){
  //down();
  for (let i = 0; i < ptsStar.length; i++){
    await goTo(ptsStar[i][0], ptsStar[i][1]);
    await delay(200);  
  }
  //zUp();
}

async function draw(){
  //down();
  for (let i = 0; i < pts.length; i++){
    await goTo(pts[i][0], pts[i][1]);
    await delay(200);  
  }
  //zUp();
}


// Array of [x,y] positions of drawing design
//Square
var ptsSquare = [[50,0],[50,50],[0,50],[0,0]];

//Star
var ptsStar = [[20,10],[30,50],[40,10],[10,40],[50,40],[20,10]];

//TestDraw
var pts = [[62.2, 26.2], [29.7, 26.2], [29.7, 49], [61, 49], [61, 62.5], [29.7, 62.5], [29.7, 92.7], [29.7, 107.9], [29.7, 130.7], [60.5, 98.5],
 [69.9, 107.9], [42.6, 135.8], [85, 187.9], [66.1, 187.9], [32.6, 145.6], [29.7, 148.5], [29.7, 174.4], [15.6, 174.4], [15.6, 107.9],
 [15.6, 92.7], [15.6, 12.7], [62.2, 12.7], [62.2, 26.2]];



//SVG -> ChatGPT -> vertex coordinates of the shape//This is NOT tested yet
var polygon1 = [[10,10],[10,20],[20,20],[20,10],[10,10]];

var polygon2 = [[30,30],[30,40],[40,40],[40,30],[30,30]];

async function drawPolugon() {
  machine.setPosition([0, 0]);// set present position as (X0,Y0)
  //zUp();  
  //about polygon1
  await goTo(polygon1[0][0], polygon1[0][1]);//move to first position of polygon1
  //zDown();
  for (let i = 1; i < polygon1.length; i++){
    await goTo(polygon1[i][0], polygon1[i][1]);//finish drawing polygon1
    await delay(200);  
  }
  //zUp();  
  //about polygon2
  await goTo(polygon2[0][0], polygon2[0][1]);//move to first position of polygon2
  //zDown();
  for (let i = 1; i < polygon2.length; i++){
    await goTo(polygon1[i][0], polygon1[i][1]);//finish drawing polygon2
    await delay(200);  
  }
  //zUp(); 
  //finished drawing all polygons
  goTo(0,0);//move back to (X0,Y0)
}

function playAudio() {
//　var audio = document.getElementById("audio");
//  audio.addEventListener('ended', function() {
//    audio.currentTime = 0;
    audio.play();
//  }, false);

}

function muteAudio() {
  // var audio = document.getElementById("audio");
  audio.pause(); // Pause playback
  //audio.currentTime = 0; // Return playback position to beginning
}

---

Last update: June 27, 2024