2021-08-17 Meeting Minutes - Arm

Goals


Update & Action Items

MemberUpdateAction Items
  • 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
  • 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 (sad) )
  • Figure out how to add multiple sheets onto one drawing.
  • 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
  • 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

New Tasks

  • 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


  • get hard numbers
  • COMPARE PHYSICAL DESIGN WITH CALCULATED DESIGN

General Notes

  • lower amperage for the arm
  • A2, A3 is back-driving due to gravity