2021-06-15 Meeting Minutes - Arm Design Review

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