(1/30/12-2/03/12)
Overview of Status of Analysis, Design, Fabrication, Test, etc
Consulted and collaborated with engineer from Robotic Systems, a distributor of Kollmorgen Products
Conducted dynamic motor analysis
Focus on geared motors
Revisited geared motors and motor driver combinations
Kollmorgen’s AKM 31/32 series motor with onboard encoder
AKD Servo Drive
Single axis drivers
Redesigned motor housing to accommodate AKM type motor
Conducted Kinematic analysis for new design
Calculated torque required to drive platform
Calculated inertia of platform
Fabricated ½ scale model of new design using acrylic
Model tests kinematic design and fabrication methods
Found lead times and price of major components
Geared Motor with Encoder
Motor Driver
Goals for next week
Finalize Motor and driver decision
Triple check dynamic analysis, have all members verify analysis
With major components selected, research supporting components
Transformer, Inverter
Bearings
Determine specific grade of aluminum (6061 T60) that can withstand given conditions:
Temperature range
Fatigue
Creep
Stress
Instructor comments from last meeting and actions taken
Chose a geared motor instead of a direct drive motor
Consulted engineer
Performed dynamic motor analysis
Risks and areas of concern
Controlling our module with the AKD
How to program motor driver, flexibility, scalability
Choosing a capable motor that isn’t ‘overkill’
Verify dynamic analysis
Schedule
Purchase all components by the end of week 5 due to lead times
We will likely purchase motor & motor driver from Robosys
Obtain aluminum material and begin machining : weeks 5-7
Use lathe and mill in machine shop
Budget
Risk Reduction and scale model: $215.20
Remaining: $3284.80
Progress
Working on project definition page and final design page
Next week, will begin working on rough draft of final report