Week 1

 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 motor movements via the C++ code (in both directions).

  • Created a dedicated test to enable the motor and move it a specified amount (about 30 degrees) and record the time it takes to complete the process.

  • The test averaged around 0.004 seconds to completed, which means the timing is a non-issue and the enable/disable is now the finalized avenue to accomplish back drivability.

 Figure 3: Motor Enable Test Console Log   

Linkage Forces Math (Sean)

  • Discussed the force calculations with Dr. Gordon

  • Finalized the equations for force delivery.

Figure 4: Torque Equations to be implemented

  • Linkage Lengths Validated

Figure 5: Linkage Lengths with Playing Field

Handle Redesign (Nathan)

  • Handle Redesign Printed

  • Horizontal Grip Modeled

Figure 6: 3D Printed Vertical Grip Handle


Figure 7: Drawing/Solidworks Model of Horizontal Grip Handle


Motor Base Update and FEA (Gavin)

  • Final redesign of mounting frame with implementation of wheels for ease of movement
  • FEA analysis completed with a minimum FOS of 3.0 in both worst case use and expected moving scenarios
  • Implementation of wheels will require additional tubing, which will be ordered this up coming week
  • Goal for 30% deadline is to be load bearing pending the arrival of additional tubing


Figure 8: FEA of worst load case and worst angle (on wheels)


Figure 9: Solidworks Model of Updated Base


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