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2021-06-15 Meeting Minutes - Arm Design Review

2021-06-15 Meeting Minutes - Arm Design Review

Jun 15, 2021

Goals

  • CAD updates

  • Design review

  • The bay is open!!!!!!!!

Update & Action Items

Member

Update

Action Items

Member

Update

Action Items

Caleb

  • Drawing/Part templates done

    • Generic guide added to confluence

    • Current drawing paper sizes, A0,A1,A2,A3,A4 (and their continuation pages)

    • Current part templates (MMGS, 2 decimal places, 6061 Al)

  • Some claw assistance, did a quick static FEA in SOLIDWORKS. 

  • Starting new gimbal project

  • Define exactly what needs to be done for the gimbal

    • Continuous panning needed?

    • Are encoders really needed if only operator is going to use it.

    • Rotational speed requirements

    • Size limitations

    • Power limitations

    • Motors, looking to use specific "gimbal" motors

    • FOV requirements

  • Create preliminary sketch &/or CAD model of new idea by next week ish

  • Gimbal plans & improvements

    • Make use of more bearings for stability, less wiggling

  • Drones have little silicone vibration dampers, I'm thinking it could be useful to have on for ours. Not necessarily silicone, but some sort of spring suspension system (thoughts?)

  • Camera we'll be using: https://www.stereolabs.com/zed-2/

    • (form factor similar to that of a Microsoft Kinect)

Austin

  • A2/L2 CAD complete

  • fasteners w/ part numbers, materials and part descriptions for OTS parts all added

  • developed two initial ideas on tensioner mechanisms for belts, haven't had time to CAD it out unfortunately

  • decide on tensioner mechanism and add to CAD

  • start printing stuff

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

  • End effector done

  • Slides for design review done

  • Design review on Thursday

  • Rename part files?

  • Take out thread COTS

  • Design review with Cory next week Tuesday

  • new design task?

Mathieu

  • Control Scheme in progress

  • buy nylon 3D printer material

  • Continue work on joint 1

  • Work on A3 and A4

  • Contact electrical, fw and sw to see if we need to integrate a gimbal

Haseeb



  • Custom arm controller



New Tasks

General Notes

Full design to be completed by June 29th (CAD, BOM)

→ Build and assembly proceeds onwards



A1

  • Add encoders to design

  • Adjust table width to represent the distance from the front of the wheels that we would expect

  • Reduce bolt length between the bearing 3D printed parts

  • Constrain the vertical motion of the shaft

  • Flip the versahub to fit inside the pulley

  • verify the distance between the pulleys to select the correct belt

A2

  • Do stress analysis on A2 to A3 plates

  • Add tensioners

  • Add that fastener and stop being cheap

  • Add encoder to A3 small pulley

A3-A4

  • reduce shaft lengths for A3 and A4

  • switch the A3 shaft for a hex shaft and all mating parts

  • change the A3 bracket for a plate and hex shaft

  • center the black block in between the 2 plates

  • Move the pulley on motor on top closer to the gearbox (extend the back plate and fasten the motor to it

  • Remove pulley from A4

  • Replace bearings with bushings on A4

  • Add fasteners

  • Add nut pockets

  • Add joining method from A4 to A5 and A6

A5-A6

  • Add spacers to the gearbox in the box tube

  • Flip all flange bearings as well as shorten

  • Add belt tensionners

  • Add kerf correction