2021-08-17 Meeting Minutes - Arm

Goals

Member	Update	Action Items
Austin Tailon Huang (Deactivated)	"Borrowing" a CIM motor for cycloidal drive updated gripper with new parts did some initial mechanical testing / current monitoring on arm	test gripper? update/solidify test plan for arm and test arm finally going to test/print/design a cycloid prototype try to calculate to see if A2 backdrives analytically
Former user (Deleted)	Clarified science requirements Started planning/sketching out some possible designs for mounting sensors.	Continue work on science mechanism Might need to redesign the whole thing (apparently the current one doesn't work very well) ZED2 camera procurement (we're outta WEEF money ) Figure out how to add multiple sheets onto one drawing.
Former user (Deleted)	Created A5/A6→ End Effector transition part Added to arm V1 assembly	Finish drawings for part Machine part Get in touch with Medina to find out what other parts need to be machined Machine L6 back bracket re-machine front bracket if time permits
Ethan Cronier	Preliminary testing for end effector footage for end effector sent to demtool	Port over more stuff to confluence distribute tasks? work on time line for next arm plan plan plan

Weigh parts to check with CAD
figure out A4 sqeezing and backlash
- have to prevent A3 backdriving first - temp fixture to block motion?
test fixture for A6 individually?
Current load for A5 is 11A, pretty high
test gimbal
- need zed 2
- test with another camera? zed 1?
Arduino board stuff needs to be programming
- get current sensors working
- get encoder data
- position control
- get IK working - mid September
- test repeatability