Overview:

I created a CNC weaving robot. Essentially, it is a robotic attachment for the CNC router that, when activated by a push button, passes a spool of thread across a gap around a thread.

For the project, the router bed was fitted with a thread grid that the robot maneuvered around. And over the course of the demonstration, a pattern emerged.

Outcomes:

The robotic attachment for the router was created using two solenoids, a stepper motor and a push button. When activated, the spool transfer system would engage to create an "under-over" weaving pattern. 

The coordinates for each point were recorded at two Z heights, one for moving in between points and one height to accommodate the physical weaving process. The coordinates were then transferred to a G-Code file and ran on the router.

Problems:

During the course of this project, I had to account for two major problems:

1. Designing the piece so it was small enough to fit on the head of the router

2. Getting the spool transfer between the two solenoids to work correctly

I was able to solve the design issue by constantly switching out each part of the weaver for smaller more compact parts. The solenoids proved more difficult than changing the stepper for a smaller one. With the solenoids, they had to pull enough strength to grab and hold onto the spool. In order to combat this strength problem, I provided the solenoids with a 9V current for a fraction of a second to facilitate the transfer without burning them out.