/
2021-06-08 Meeting Minutes - Arm

2021-06-08 Meeting Minutes - Arm

Aug 21, 2021

Goals

  • CAD updates

  • Design Reviews

  • Next Steps



Update & Action Items

Member

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