2021-09-09 Meeting Minutes - Drivetrain
17 Days until Prototyping Conclusion!
Goals
- Finish all of the essential mechanical fixes this weekend
- Finish field testing the following weekend
- Look over the new rules: https://urc.marssociety.org/home/requirements-guidelines
Current State of Progress & Action Items
Prototype
- Mechanical assembly
- It's actually.....working?? (for the most part)
- Mechanical assembly needs to be made more robust
- Prepare for testing
- To do still:
- Add horizontal support beams to stiffen pegboard
- Add jam nuts to differential linkages. Prevents it from unthreading
- Cut new bearing plates with more mounting holes, reattach
- Replace short screws with longer ones
- Add Loctite to joints
- Bring all wheels to an equal pressure, see if we can get them thinner?
- Print battery and weight holders, add to bottom layer of chassis
- Cut and add wheel treads
- Create & fabricate attachments to keep differential bar in place?
- Learnings so far:
- Flexing in EVERY joint
- Should minimize wiggle by having press-fit bearings/bushings secured with Loctite or glue
- Research other rover designs or other methods in general for stiff – but still flexible – rocker-bogies
- Weight of motors in the current position is also causing some bending of the legs
- Definitely use metal spacers or more robust plastic spacers for the final drivetrain
- Flexing in EVERY joint
- Learnings so far:
- Wiring
- All but sensor connections are completed
- To do still:
- Wire up the current sensors to the ADC and Raspberry Pi
- Mount electronics board to the chassis via hinges
- Controls
- Wireless communication and basic movement are done!
- To do (Former user (Deleted)):
- Debug existing code (spazzing drivetrain, bug in inverse kinematics, safety stop)
- Collecting current sensor outputs
Update & Action Items
Member | Update | Action Items |
---|---|---|
Emily Adam (Differential bar) |
| |
Former user (Deleted) (Wheel connections) |
| |
Former user (Deleted) (Chassis) |
| |
Former user (Deleted) (Stress calculations) |
|
|
Former user (Deleted) (Frame/structure) |
|
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General Notes
- Add cross members/stiffening in chassis
- Get feedback from past drivetrain members?
- Want to test carbon fibre → mounting piece bonding (TBD)