2021-09-16 Meeting Minutes - Drivetrain

10 Days until Prototyping Conclusion!

→ Wrap-up meeting, next Sunday 7pm ET (Sept. 26th)?

Goals

• Review prototyping progress
• Introduce new member?
• Discuss & assign bonding prototyping
• Discuss budget plan for Drivetrain

Current State of Progress & Action Items

Prototype

• Mechanical assembly
  • Changes successfully made to make more robust
    • Upgraded bearing plates to have more mounting holes, added loctite to gearbox mounting screws, replaced wood screws with 1 1/4" long screws around the motor
    • Added horizontal support beams to stiffen pegboard
    • Deflated the tires slightly so that we could bring the hubs closer together, adding more clearance between the wheel and the frame
    • Mounted controls board
  • To do still:
    • Bring Wheelez to an equal pressure → borrow Medina's bike pump!
    • Assemble the legs back on the chassis
    • 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
• Wiring/Controls
  • All but sensor connections are completed
  • To do still:

• • • Update motor assignment in code
    • Plug in motors
    • Wire up the current sensors to the ADC and Raspberry Pi
    • Debug current collection
    • Click to add a new task...

Update & Action Items