Week 8

 Design Details

This week primarily focused on refining the details of each individual module to better prepare for the initial wave of ordering finalized parts and the construction of the prototype.

Motor Selection

  • More research has been dedicated to the selection of specific motors, with factors such as required torque, power, and control scheme being the main components considered.
  • Some time was put into possibly downsizing the force requirements and/or the playing field size, and the motors available to such specs, but after discussing with Dr. Kim (client), there may be alternative ways to obtain the full power motors.
  • The company from which we are considering purchasing from is Teknic's ClearPath line, featuring different motor styles based on control sceheme.

  • These lines each have pros and cons, with the two most probable lines being SD and SC.
  • For the SD line, a dedicated microcontroller is required that can be programmed with C++ code, and Teknic provides a compatible device called ClearCore.


  • In contrast, the SC line allows for a class based C++ solution that can be directly programmable from a PC, with the middleman device called Communication Hub.
  • Time has been spent setting up budgets for each case of motors, factoring all of the accessories necessary for them to function, below is an example for an SC motor able to fulfill our original force and playing field requirements.

  • Within the next week or so, a final decision should be attainable once more information on our available budget is known and the possibility of Dr. Kim obtaining one of the motors through an external budget.

Linkage Design

  • Another module detailed this week is the overall design of the linkages, including the shape of the material, connections, and the material itself.
  • Below are a few designs created and considered regarding linkage connections:

  • Pictured below is our most updated budget regarding the entire linkage configuration, in which square aluminum tubing has been chosen.

Additional Modules

  • Other main areas of interest this past week was the base/mount system for the motors and linkages, the design of the user handle, the code used for the display, and display/computing hardware.
  • In terms of the base/mount system and handle design, we are currently developing models in Solidworks and working on developing an OnShape framework to more easily share files.
  • For the display code, research was dedicated to C++ specific visual libraries in effort to possibly limit the need for language wrapping when going back and forth from the motor controlling code. An example of a readily available C++ visual library is SFML.

  • Then for the hardware relating to the display and computing, it has been decided that these will be sourced through team members or the university to reduce overall cost.




Comments

Post a Comment

Popular posts from this blog

Week 0

Image
Start of Second Semester   This week was the start of the second semester and focused on the mechanics and graphics of the program. Program Display (Elijah) Established a final theme for the GUI , and developed a second more straightforward theme to account for different audiences . Created the ability to use the program without a motor to allow for non -motor issue troubleshooting . Motor inputs are set to 0 (as seen in demo ) Linkage Forces Math (Sean) Checked Dr. Kim's math for solving the (x,y) coordinates of the end of arm Checked Dr. Kim's math for Torque required to produce a force at the end of the arm. Was going to ask Dr. Kim some questions but I became sick, so will do that Thursday. Handle Redesign(Nathan) Handle Redesigned for different heights. Handle size and material reduced. (Gavin)
Read more

Week 2

Image
  The Second Week Back   This week we focused on completion of 30% of the project which included milestones for each subsystem to complete as well as Completing Deliverable 5.  Kinematic/Kinetic Implementation and Risk Assessment (Elijah) Implemented the foundation of kinematic tracking with a single motor and translating that to a correlating screen position (responsible for the moon moving on screen ) Implemented the foundation of kinetic response to path deviation with a single motor , increasing the applied acceleration to a correction to ultimately control the torque to output the specified force on the handle Implemented correction timing mechanic , in which the user can correct themselves within a specified time limit before the motor takes effect completed sections 5 .4 - 5 .5 focusing on risk assessment and implementation End Connectors CAM and Assembly Drawings (Sean) Completed CAM for End Connectors Discussed CAM with Blake Shishido Completed Drawings for Full Assembly as we
Read more

Week 1

Image
  The First Week Back This week we focused on redesigns for the linkage system, some force mechanics research, as well as gaining an understanding for what will be necessary to have 30% completion by the 24th.  Force Field Research & Motor Code Time Tests (Elijah) https://www.sciencedirect.com/science/article/pii/S0165027012004736?casa_token=AO8eNFj4LAkAAAAA:25cCp1lG-zfDO-fEjP4doXl2ZQ7PDhODTE-xHWemj-rrrkQw-FP2ySvuFeykV3wAH7_5qdku  (Paper Link) Using the original given forcefield paper from last semester, found another robot named BioMotionBot, a very sophisticated 3D motion bot made in 2013. A lot of design revolved around using a 6D torque sensor (Manus also used this), while ours will rely more on calculations. (Cause these are really expensive) Had useful info and equations regarding force fields, which will be the crux of the course correction mode. Figure 1: BioMotionBot Figure 2: Force Field Equation (3D) Created a dedicated test screen in the program, capable of now causing
Read more