2021-04-23 Meeting Minutes - General

Establishing Length Requirements

Determine max arm reach/workspace(max vertical reach above ground, and distance above drivetrain)
Joint configuration
Function of arm (what kind movements does it need to complete?)
what linkage length ratios are required
define our workspace
chassis/drivetrain height?
Can we establish hard numbers on next sunday?

Axis Configuration

6 axis articulated arm, but for next meeting we need to figure out the joint configurations
What are the best joint configurations for high load applications?
we need a better idea of how the turntable should work

Camera Placement

Where do we want to place the camera?
- it should not rotate with the end effector
Look into gorilla tripod type leg things
Do we need a gimble? Static cameras? How many cameras are required on the arm? Should we just put a shitload of static cameras on the rover?
Should joint design be configured to allow the end effector to "look back" on the robot?

Motors And Actuators

Joint Drives

finish reserach into the rest of the joint drives, and look more into OTS options

Encoders (In the Future)

Arm Mounting

Further investigation required into the extrusion to slide the arm on would be great

End Effector

High allen key torque is probably not necessary for high torque
pitching axis 5 for allen key is cool
solenoids offer an interesting solution for key pressing, lets look into it more
(we already do this) but USE BALL HEADS
Investigate pneumatics
Look at urethane sheets on canada composites (PBLT vs shore hardness?)
Compliance is super important
TWO finger design has been confirmed
look into compliance geometry on fingers
look into feasibility of switching fingers between missions

Linkages

MAIN PRIORITY GOALS