2021-06-08 Meeting Minutes - Arm

Owned by

Mathieu Harter (Deactivated)

Last updated: Aug 21, 2021 by

2 min read

Goals

CAD updates
Design Reviews
Next Steps

Update & Action Items

Member	Update	Action Items
Caleb	Link part properties to templates (author, material, revision, etc.) → Templates done and linked to properties Continue work on end effector	Create part templates with mass property
Austin	made an Am-0915 curve and put it in prototype 1 page, it seems very weak although I may be misinterpreting values FRC hardware hasn't changed, (bag + 300:1 versa + 3.33:1 belt drive) joint CAD halfway done, will have it done for thursday for sure.	Joint 2 CAD
Medina	A5A6 CAD	continue CAD for joints 5 and 6
Ali	Select motor, gearbox and reduction CAD joint	Continue CAD for joints 3 and 4
Jasmine	Help Ali with joint 3 and 4	Create a testing procedure for the prototype
Keyon	Select motor, gearbox and reduction CAD joint	CAD for joint 1
Ethan	95% cad finished for end effector	Clean up end effector CAD Prepare slides for end effector design review Create cost document Other documentation
Mathieu	Control Scheme in progress	buy nylon 3D printer material Continue work on joint 1 Contact electrical, fw and sw to see if we need to integrate a gimbal
Haseeb	Custom arm controller	Custom

New Tasks

Science mechanism?
Motor testing jig for fw/sw

General Notes

Design Review

A1:

motor versa planetary gearbox needs fasteners - fasteners missing from model.
heavy weight to tie down the base of the arm prototype
point of failure - the bearing, high moment on the bearing
point of failure - the plate on the bearing - thicker plate?
put bearing to support other side of versa planetary gearbox shaft
add encoder features
Add belt
figure out weight issues
make the turntables able to rotate
hex shaft collars?

A2:

figure out absurd weight
kerf correction
reduce shaft size
connect the gearbox standoffs to make 1 part not 2
servicing of motor will be tricky/rotate gearbox orientation

A3 and A4:

hex shaft collar for small pulley?
Change large pulley attachment method - ideally using a wheel hub
Add a way to secure bearings in the main block
Evaluate maximum thrust on bearings and spec out proper bearings
Add all fasteners
Separate middle block in 3D printed parts
Determine if circlips can withstand the thrust load seen by the arm
Evaluate if we can use shaft collars
Switch 3D printed shafts for metal shafts
Load, stress and deflection analysis on the aluminum tubing
check belt spacing
Add encoders
kerf correction
Check weight

A5 and A6:

Extend the shaft to the other end of the box tube and add a bushing
Add a shaft collar on axis 6
Add standoffs between plates
Add encoders
Add spacers between box tube and bevel gears
Adjust sheet inside bend radius for the 2 L plates to equal to sheet thickness
Add fasteners
Specify materials for all components
Switch flatheads to counterbores on end-effector attachment plate
Move end effector attachment plate closer to box tube
Check if gears can withstand the load of the end effector when lifting 5 kg
Check belt spacing
kerf correction
Check weight