Page Comparison

• We definitely need to figure out how many degrees of freedom our arm needs to have; this much should be obvious.
• Selecting the optimum # of DoF will refine our design scope, and give us a better understanding of what linkages we need to fabricate
•  Will also help us figure out how many motors (+ other OTS components we may need)

• Recommended DoF for IK
• Where DoF should be placed on linkages
• How much we can simplify to reduce design complexity while maintaining function

• Linkages refer to the actual "limbs" of the arm, i.e. shoulder, forearm, wrist, etc.
• Determining how our linkages should be shaped and how they are commonly constructed will help us select materials and get
  large components with longer lead times fabricated faster
• This can also help us to prep stuff like cable routing options so its not ham-fisted into the design last second

• Linkage design (what shapes/geometry are used to minimize weight while maintaining strength and rigidity)
• Linkages length (would be good to consider this in design, lengths are def TBD rn but its good to find something configurable for when we refine our values)
• Cable routing options in the linkages
• It would also be great to determine what kind of machining processes we will need to use to build our linkage so we can plan accordingly

• We need to figure out what we will actually build the arm with lol
• Look into high strength lightweight materials, like carbon composites (which is what most teams use)
• It would also be great to think of what can replacement materials could be used for prototyping and testing before actual parts are ordered

• Construction material options and any unique fabrication processes required to use them
• Potential procurement routes (reach out to sponsors, figure out where we can get stuff and get estimates)
• CARBON COMPOSITES

• While it may be too soon to select motor ratings for our design, we should definitely find a vendor and potential motor options so we aren't left in the
  dust after we find a design
• It would also be good to get some cost estimates for budgeting 
• There are also some nuances in motor design that should be research (like what's a pancake BLDC motor?)

• Potential vendors
• Potential lines/models of BLDC motors we can use
• Potential sponsorships and cost estimates for motors

TQ-RoboDrive full sponsorship

Frameless, Brushless motors

• Joint drives and actuators are a huge topic to research, as they are what actually move the arm
• There are a number of different options with varying pros and cons - i.e. backlash, cost, implementation, size, reusability, torque/speed ratio, gear reduction, etc.
• We need to figure out what drives are required at each joint to properly design our robot arm

• Ideal gear reduction for robot arms
• What types of drives are suitable at each joints
• OTS vs custom drive options
• Cycloid drives, strain wave drives, worm gears, belt drives, bevel/spur gearing, anti backlash gears, backlash solutions, hypoid gears
• DC motors, servos, steppers, linear actuators, solenoids, pneumatic actuators

• This is also straight forward, as the end effector is a huge part of our robot - its what gets shit done at comp
• The design for the end effector is pretty open ended, so lets try to refine the requirements and think of some good options 

• Num. of required fingers
• Gripper materials
• Range of rotation
• Clamping strength
• Tool compatibility