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