Project Arm

Overview:

• The objective of the project

Requirements:

• At least 4 DOF

• 5 kg payload carrying performance (static and dynamic torque)

• No motor overheat

• Ability to move freely in 3D space

• At least able to reach a workspace area

• Control mode

  • User direct input through the joystick

  • Given two points in space and move

• ROS 2 package for advanced motion planning

• camera feedback for the operator to view

Constraint:

• On-going discussion: the current arm spec is way under the calculation(Need to re-evaluate the current situation)

  • The software will not be able to integrate the ARM(mech side) soon (software tightened timeline)

• The integration and the next step of development might be to try out and re-evaluate and then make limited improvement

  • Impact: need to evaluate the performance and establish constraints based on the observation

Nice to have:

• Able to switch end effector and accomplish the competition requirement action

• For carrying mission offload payload to a storage area and transport

Interface:

• User command input:

  • joystick

  • Position control input

• Output:

  • User camera feed

Design validation discussion

• Arm system road blocker

  • Communication with Austin on the way

  • Need to consult with people with more realization about the system

  • Company (anoop's help?)

Architecture: (will be updated after motor respec and system reevaluation)

Insert mechanical model picture here(if possible)

Insert a system diagram:

• Main electrical components

• High-level software controller

• introduce how each part interact with each other

Insert a software sequence diagram:

Timeline

• define major milestone(decouple all the parts)

• three stage

  • design

  • MVP

  • cleanup

• Demonstration date

• Link to subteam tasks lists and assignee document

Risk mitigation

Inventory

Update & Action Items

New Tasks

General Notes

Project ownership(person to contact)

Name of the person (Onsite/ Remote)