2021-03-16 Meeting Minutes - General

Goals

• Moving towards Competition!
• Project Updates
• New tasks

Update & Action Items

Member	Update	Action Items
Mathieu H, Austin (Arm)	Wrist/forearm is pretty broken rn with bad gear tooth engagement. (It’s not functional) Believe the wrist/forearm has been dewired and will take a look at fixing the assembly tomorrow	EDIT: spoke with Aidan, ill be dewiring it tmrw
Jasmine M, Austin, Ethan (E-box)	Finished FAB drawings (first draft) for new weldment ebox design with PEM studs Visited demtool and sorted out powder coating/insulation processes Got laser engraving file completed for lid Sorting out adding new design changes proposed by Aidan Tested 3D prints for all the power poles, still need to test prints for molex connectors Getting new BOM ready	Design review soon then we can send it
Jasmine M, Austin, Ethan (E-box- specifying welds)		If you are working with a folded piece of sheet metal, you can add weld corners using the corner feature Or, you can use the weldment tool to add welded edges to other joint types or materials Welded features show up in the solidworks part model with the accompanying appropriate symbol. In your drawings, you should also specify what type of weld feature you want. There are different symbols used for different types of joints, so check with fabricators to ensure the weld symbol used makes sense in your context!
Abdul H (Base station)	Mounted successfully for SAR
Haseeb (LED board mount)	Too hot so changed design Machined aluminum part of mounts	Took measurements have to update CAD
Austin H (Force-sensitive claws)		Can i pass this to someone i’ve done nothing for it lol
Max (Wheel research)	Pretty much just combing through SAR videos at this point Lots of teams use 3d printed compliant treads around a hub Prototype? link to doc
Ethan, Austin (CAD cleanup)	PLEASE USE PROFILE CENTER FOR FASTENER MATES What is the business with the drivetrain folder Everything clean except Arm, Battery, E-Box & Science.	Potentially clean up the top level documentation folder later Remove ZED camera directly from science? (avoid cross folder dependencies) NEW NAMING SCHEME should be considered Arm clean up will start this week
Asha	Ansys? -> Tony sent me the contact info of our connection - Mathieu

New Tasks

New Tasks for Competition

General Notes

SAR Recap

• We managed to get to SAR! Great work everyone.
• Issues with the arm, drivetrain, science and gimbal
• Many new tasks moving forward to prepare for competition.

Arm Issues and New tasks

• 3D printed camera mount failed, needs to be reprinted
• Gear meshing for the wrist is loose, needs to be fixed
• Elbow backlash is pretty bad, needs to be investigated and a fix should be implemented
• All motors should be 24V (right now, the turntable, shoulder and elbow motors are 12 V)
• Tooltip needs to be finalized and installed on the wrist
• Design new 3D printed mounts for the arm pcbs
• The goal is to have the arm functional so that fw and sw can test 

Drivetrain Issues and New Tasks

• The chain connecting the wheel to the gearbox broke. A new one was ordered and seems to be doing the trick. More spares to be ordered
• Tires need to be changed
• Gearbox gear shattered, another one sheared pretty bad. We need to order more.
• New encoder mounts need to be designed and 3D printed

Gimbal Issues and New Tasks

• The lack of bearings in the design is making the assembly very loose, with a lot of play between the parts. 
• A redesign of the camera carriage is needed, with the roll axis removed. Keep in mind the camera cable coming out the back