2021-05-18 Meeting Minutes - Arm

Goals

• Present arm development framework
• Set clear goals for the prototype
• Set deliverable dates
• Assign tasks

Prototype Tasks

• Select motors and gearboxes to achieve rough joint torque requirements. FRC website should give us a lot of good options for this initial design
• Determine how to track torque per joint (torque sensors, record speed/current and use torque curves, etc.)
• Determine which encoders will be used
• Talk to electrical to figure out the electrical system and control scheme for the prototype arm
• Look into second stage transmission options. It will probably be easier to implement a chain drive if we need to add a second stage reduction on our high torque joints, so we should find out where to get these / what to use. 
• Select a construction material for structural members. Would it be easier to work with wood, aluminum tubing, etc. How can we get these materials? Find cost and lead times
• Figure out how/where to mount the arm. We want to simulate rover conditions when testing, so ~12" above the ground on a stable surface. We can probably just mount the arm on a wood block or something but let's specifically figure this out. 
• Design prototype 1 rev 1 in CAD
• Review design to check for any critical errors that will prevent functionality
• Part drawings
• Plan wiring and coding of arm
• Order motors, gearboxes and materials
• Build prototype 1. As you assemble the prototype, we should probably test each joint to ensure that they are roughly providing the correct torque. We can just attach a member to the gearbox output and slap it on a scale to figure this out. 

Update & Action Items

New Tasks

• Create SolidWorks templates for parts, assemblies, and drawings (multiple sizes of drawings) → look into ASME/ other standards for drawings

General Notes