2021-04-23 Meeting Minutes - General

Owned by Austin Tailon Huang
Last updated: May 18, 2021 by Ethan Cronier
2 min read

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

  • Look into maxon motors
  • Look into linear actuators 
  • Look more into solenoids

Joint Drives

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

Encoders (In the Future)

  • Look specifically into RLS and Netzer available options
  • Reach out to Cindy to design a fixture for netzer testing

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

  • plastic casing is unnecessary


MAIN PRIORITY GOALS

  • figure out linkage lengths
  • Conceptualize end effector configuration
  • Figure out joint configurations
  • Research axis 1 "turntable design"
  • flesh out the research listed above