Below is a list of key topics to research for our arm redesign that we should aim to get done by . I'll provide rational for each of the topics and would appreciate it if people could assign themselves topics so that we cover as much ground as possible. Obviously, feel free to research topics that interest you if other people are looking into them, but try to get everything covered as well
Topic
Rationale
Key Things to Research
Assignment
Degrees of Freedom
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
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
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
