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2021-11-11 Meeting Minutes - Drivetrain

2021-11-11 Meeting Minutes - Drivetrain

Nov 12, 2021

15 Days until Final Design Review...unless,..

Goals

  • Review next steps post Ping's feedback

  • Confirm Drivetrain design with the rest of the team, see if we're missing any requirements

  • Touchbase with rest of Drivetrain team/stakeholders. Review timelines

Action Items

  • Wheel integration!!!

    • To do ASAP!

      • Get more detail on the inner fillet of the wheel so that we have more information on the constraining area

      • Print the current wheel hub and test ASAP 

      • Consider alternative methods, such as adapting the original hub → @Asha Mills Emmett (Deactivated)

  • Prototype bonding aluminum hubs to the carbon fibre

    • Verify choice of epoxy

    • Verify successful establishment of the bond gap between the aluminum and carbon fibre

    • Verify by testing the strength of the carbon fibre assembly after bonding using the Department's equipment

    • To do ASAP!: 

      • Buy bonding materials from Composites Canada

      • Get a cap machined

        • Add bonding step 

      • Develop a test plan and establish what we are specifically looking for (Instron?)

    • Questions:

      • How much material do we have left? → @Chanpakorn Chaiklahan

      • Approximately 3 ft., enough for another test.

  • FEA!!! → @Andrew Tersigni (Deactivated)

  • Smaller CAD updates

    • Refer to the review's meeting minutes for specific feedback on each sub-system

    • General feedback:

      • Reduce the amount of hardware needed → PEM nuts, flange bolts, reduce overkill of mounting locations, remove unnecessary 3D printed parts

      • Reduce areas of stress concentration!

      • Verify machinability with Demtool's guidelines

Lower Priority

  • Bill of Materials!!! Confirm what components are getting sponsored, confirm that items don't have ridiculous lead times, pricing, etc.

    • Do in a separate excel file for now...need to touch base with Ethan about his doc

  • CF assembly jig → @Max Apitz-Grossman (Deactivated)

    • Just come up with a plan for now. Design and a more detailed plan for this can be delayed till after exams

  • Treads

    • Lower priority? Can also be delayed until after the design is finalized, just account for some space in height/width, etc.

Updates

Member

Update

Action Items

Member

Update

Action Items

@Former user (Deleted) (Chassis)

  • Focus on FEA!

  • Add Vector NAV IMU, with bonus two antennas

    • Verify with Melvin

  • Battery mount, E-Stop, LED Matrix

  • Extend chassis back to prototype length

@Former user (Deleted) (Wheel connections)

 

 

@Emily Adam (Deactivated) (Differential bar)

 

  • Acquire bonding materials & Composites Canada order

  • Wheel hub test print, try to break

  • Send actuator details

  • Help with SolidWorks sim → what do we isolate for sims?

@Former user (Deleted) (Frame/structure)

 

  • Correct suspension geometry to match prototype

    • Note that Asha's piece is subject to change

@Former user (Deleted)

 

  • This weekend: measure inner fillet of the tire, update wheel CAD

    • Look at using "Loft" in SolidWorks to create the fillet

Full Drivetrain Team Discussion -- Notes

  1. Walk team through the Drivetrain CAD → can show slides

  2. Current length, width, height values

    • Length: 1.5 m

      • When corrected, give numbers to Orson!!!!

    • Width: 1.18 m

    • Height: 0.92 m

  3. Current mass = ~26.5 kg

    • Chassis = 8.07 kg

    • Suspension (1.78 kg) * 2 = 3.56 kg

    • Differential = 1.0 kg

    •  [ Wheels (1.32 kg) + Nanotec Motor (0.64 kg) + VersaPlanetary (0.34 kg) ] * 6 = 13.8 kg

  4. Current distance from mounting to the ground = ~530mm

    • Arm was estimating 350mm → reconfirm that geometry matches the prototype

  5. Current height of Gimbal stand = ~940mm

  6. DIstance from plate to end of the rover = 0.4m

 

Questions...

  • When does SW want to claim the prototype? How long do you plan to use it for?

Notes...

  • Consider routing and separation of signal/power, shielding

    • Create two channels, specifically for encoder

  • Confirm E-Box plan with Ethan → who's taking it over, do we know?

  • Manufacturing timeline.........discuss

  • Fear bushes (protect wires!)

  • Revisit gearbox loading and bending

    • Backup suspension plan

  • Moment calculations arm → statically will it tip? Moment at which it will tip?

    • Note: some missions are without mechanism

  • Consider the fact that we need some slip with our front/rear wheels for turning

    • Tread on all wheels versus some

  • Contact with less wheels (4 versus 6)

New Tasks

General Notes

  •