Simple Drawing Robot, Python Sums Weirdness

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The WHO have an Adult ADHD Self-Test. It’s very short, 18 questions and “Six of the eighteen questions were found to be the most predictive of symptoms consistent with
ADHD.”
. Number 6 is :

How often do you feel overly active and compelled to do things, like you were driven by a motor?

I’ve used Arduinos & similar microcontrollers before, until now it’s been purpose-driven. But a few weeks ago I impulsively bought an Arduino Starter Kit and a bag of 37 compatible sensors. Oops.

There are easily 10 higher priority things I should be doing, but I got sucked into this.

I’m new to servos but after finding it very easy to make a Cat Annoyer using one (and an IR proximity switch) I wanted to try something a little more ambitious, a plotter using 3 servos using an interesting mechanism:

 

I made a very rough prototype and it became clear (amongst other things) that I needed to know what would be good dimensions for the arms.

So I coded up the formula from Study and Development of Parallel Robots based on 5-Bar Linkage in Python  I got a weird result.

I’m going to pause this post here – more details are on GitHub at https://github.com/danja/mini-draw. (I want my rambling informal background here, concise instructions over there, but still a way to got before I have the thing working).  Let’s just say I didn’t get the simulation I expected. 

danny

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