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First, we built the Camera Carriage using a 45x45 wooden board. To attach the motors and wheels, we added a spacer that set them at the right height for the future installation of the V-wheel. To raise the camera, we installed a PVC pipe in the center of the carriage using metal brackets.
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WhatsApp Video 2025-09-27 at 19.12.35.mp4
To build the rail, we cut several wooden boards at the correct angle so that, when assembled, they would form a 2m radius arc. This design was chosen to make transportation and installation of the mechanical parts easier. Our plan is to secure each section of the hose onto the wooden boards using screws. We tested this method, and the hose stays firmly in place, preventing the carriage from derailing.
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This is the electronic design for the motion system, built around an ESP32 microcontroller. It uses a dual-channel L298N H-bridge to precisely control two DC motors, incorporating feedback from a rotary encoder for accurate velocity tracking. To define the operational limits, two Hall effect sensors are implemented as end-of-travel switches, ensuring the system operates safely within its designated track.
We have done a research and found some angles that can be use to describe each ballet pose.
https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0230654