07/12 Brandon Azzi Meeting Minutes

Feedback/Suggestions from today's meeting:

1. We can try to 'slip' on new 3d printed designs over the wheels to test different wheel faces.

   1. Using TPU we can look into different tread designs and test them for different conditions. Print bed might size limit this

2. Try to 'pre-stress' joints and mechanical parts to account for deformation

   1. Adding twist to carbon fiber either through assembly or manufacturing

3. Bring wheels closer to rocker bogie, (try putting motors on other side of assembly to reduce moment).

4. Checkout ROS libraries for comms (if issues still exist with sending too many/too big packages).

5. Spring or weight to gravity compensate on arm (Oliver Schneider - ask about arms), torsional springs?

   1. Torsional spring can be mounted onto axis to take the load of the arm while the motor takes the load of the weight. Needs to be simulated and studied first

6. If implementing gravity compensation, use simulation software that Azzi told us about (SimulationX) - education version on gearlab PCs which should be good enough for what we need.

7. Use cameras to assist in arm kinematics (in case rover disconnects from base station)? - Last resort <--- not viable for our system

8. Last resort for arm: Characterize limits for axis 2 and hard code them into the software to compensate