Building the Rotator
The rotator consists of several 3D printed parts that work alongside the uArm to carry out automated tasks.
The Spacer Jig is used to create sufficient distance between the point of the petri dish that is closest to the arm's base. This ensures that the arm can move freely to any point within the petri dish.
The Spacer Jig sits flush along the uArm's Base as shown in the image below.
The Spacer Jig also consists of a series of test points that can be used to test the arm accuracy before mounting the base plate and petri dish holder. The coordinates of the test points are relative to the center of the arm base as shown in the image below.
The Servo Jig sits flush along with the Spacer Jig as shown in the above images. Two additional 3D printed mounts are used to connect the servo motor to the Servo Jig. The servo jig is designed to house a 360-degree servo.
The Base Plate is directly mounted to the servo shaft using the metal arm connector that comes along with the servo. The Petri Dish Holder sits on top of the Base Plate with the help of 4 non-equidistant bolts. This allows the Petri Dish Holder to be easily separated from the entire mechanism and it can be placed in a climate-controlled environment. It can hold four separate 100mm Petri dishes simultaneously.
The bounding coordinates of the petri dish that is worked upon by the uArm are shown in the image below. The bounding coordinates are relative to the uArm Base.
