This system was utilized in the X-Axis of the gantry because the majority of the predetermined regions in the dispenser lie on the bottom row (x-axis). Going to these regions to start the dispensing sequence quickly plays a role in ensuring the dispenser operates quickly.
Lead Screw (Y-Axis):
This was preferred over the belt & pulley system because of the increased accuracy. Speed was not as crucial because the dispenser design we went with would operate better if the dispensing movement was done slowly to ensure a full dispense.
CAD Assembly of Dispenser
Dispenser
We went with a custom design where a 90° rotation of the dispenser would result in 5mL of spices dispensed.
Electrical:
Microcontroller
Our Microcontroller of choice is the ESP32. The Adafruit ESP32 offers Bluetooth connectivity and plenty of serial-out pins at a low cost.
NEMA-17 Motor (Bottom) & CNC Shield Motor Controler(Top)
Motors & Motor Controller
Motors
NEMA-17 was used to power the gantry system. The use of stepper motors was chosen due to the ability to know the position of the motors and the zero-speed torque.
Motor Controller
Arduino Uno with GRBL CNC Shield Board was used to control the stepper motors. This combo was a cost-effective method of controlling the gantry system.
