Week 6

Rough Budgets

For this week we looked into the different possible parts that could fulfill the project needs at different levels.

Motor Selection

  • The main component to the budgets was which type of motor to buy, as these are the most expensive component.
  • To aid in the decision, Gavin built a MATLAB program to translate between the end forces at the handle and the required torque the motor must produce when paired with various linkage lengths.


Computing Selection

  • Another vital component discussed was the computing center for the robot, in which the most probable product for the job can be a Raspberry Pi, as it can dedicated to the robot and runs both Python for our data acquisition and motor controlling capabilities. 

Design Notebook

We also compiled our past deliverables into a single document, making necessary revisions.

Deliverable 3 Revisions
  • The bulk of revisions to Deliverable 3 were for the requirements specifications, such as reworking some of the force requirements, and adding Government Standard specific requirements.



Deliverable 4 Revisions
  • The revisions to Deliverable 4 concerned our final concept explanation, specifically the math for the kinematics and kinetics. 
  • The original math was for a 2-link robot, but has now been replaced with a 4-link example instead (courtesy of Dr. Kim's Biomechanics lecture slides)

Midterm Presentation

We also constructed our midterm presentation this week, compiling all of our work thus far to provide a summary of where the team is currently standing.

Content Organization
  • The team went through all of our past work to build a comprehensive presentation from needs statement to current design, with a focus on the latter.


Device Demo
  • Sean built a model in Solidworks along with a motion study to have a visual aid for our presentation this week, making the device easier to conceptually attain for the audience.


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