Week 12

 End of Semester

This week marked the end of the first semester for the project, with a path set up for the next semester to have a prototype early on, as we have key components constructed for our final presentation.

Motor with Display Code Demo (Elijah)

  • Since the motor arrived this week, it was important to verify that a C++ program could interact with the motor via the sFoundation SDK (provided by the motor's company, Teknic).
  • A passive demo was chosen as the team did not want to hastily demonstrate an active application with the motor within a week of its arrival, as we need more time to better understand it to avoid potential injury.
  • The demo ended up displaying the tracking capabilities of the program, with the C++ program able to continuously query and display the shaft rotation amount in counts (approx. 0.01 degrees).
  • This demo will be shown during the final presentation in live format.

Motor Power (Gavin)

  • While waiting for the materials to come in for the mounting structure, work was done on powering the motor as it arrived this week.
  • A fuse box was implemented into the AC power cable, and the system was connected to an addition DC power supply acting as a backup logic power supply.
  • The wiring proved successful as the motor was able to communicate with a PC and move according to specific movements from Tekinc's pre-made program (ClearView).

  • The motor will be powered and used in the live demo in the final presentation, but in disabled mode. However, it can easily be configured to show specific movements with ClearView if needed.

Linkage Prototype (Sean)

  • The first iteration of the linkages was constructed this week, using final model materials such as the aluminum for the arms, and prototype material such as 3D prints for the joints.

  • The pins were made to double as handles in anticipation for single motor testing in which the angles could be determined by the user manually, but due to time constraints and safety concerns with the motor, this was postponed.
  • Initial testing occurred with the linkages and the single motor, but resulted in a failure in the 3D printed coupling with the motor shaft.

Handle Prototype (Nathan)

  • Two of the initial handle designs were printed this week, and were fitted to the newly constructed linkages.
  • A finalized depiction of the entire system with the joystick style handle is seen below:

  • The two physical handles will be shown during the final presentation, with opportunity to test the initial ergonomics of each design.

Semester 1 Presentation and DHF (All)

  •  This week also included creating the final presentation and design history file for this semester, detailing our current state in the project and how we arrived to this point.
  • Overall, we have current components that are available for testing early next semester, and are optimistic to put together a full prototype with the material we now have on hand (plus the eventual second motor).

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