Week 4 - Carriage Assembly Completion

Week 4 marks the completion of one of the primary subsystems: the motion system and topping portioning carriage. This assembly moves between topping tubes and the serving cup, moving ingredients around using a mechanically actuated seal.

We needed to fit 2 steppers as well as two rotating mechanisms. Using bevel gears, we were able to actuate both the valve and the dog-tooth driver within the same footprint as the topping dispenser.

Printing all these parts took quite a bit of time, and a lot of testing and fixturing. Yet, we managed to complete it, and now have a fully working portioning system!

And finally, the whole thing in action! Watch as the carriage moves around, opens and closes its seal, and actuated the dog clutch through its gearbox.