156B Week 9

Overview of Status of Analysis, Design, Fabrication, Tests, etc.

• • Universal joint remodeled and reassembled to account for the press-fitted bearings issue

  • Extension piece with slots with different offsets tested

  • Combined arms, trajectory, and resistance code confirmed (without connecting to the arms) that they run

  • Found the encoder on one of the motors was broken. Switched with the one on a motor that we’re not using and confirmed it works

Accomplishments from Previous Week

• • Established electronics communication to hardware

  • Built linux workspace

  • Tested position code and working on testing code with combined arms

  • Discovered possible broken encoder

  • ReCAD, recut, and reassembled U-Joints

  • Test extension handle prototypes

Goals for Next Week (list names after each item). Use specific and measurable objectives.

• • Alex & Eric:

    • Test combined arm code, expert trajectory, and resistance.

    • Fine tune the code

  • Jackie & Daniel:

    • Test the arms and compute some “numbers” (specifically distance and angles the arms can move)

    • Determine the dimension and implement a “platform” the arms will stand on

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

• • Simplify/ modify the code so the angles (position) of each linkage of the arms can be shown in order to check the movements of the arms (in-person 5/24)

Instructor Comments from Last Meeting and Actions Taken to Address these Comments  (indicate date of comments and if via email or in person)

• • Compute numbers to add on the report (in-person 5/25)

  • How to address changes in the project scope in the report (in-person 5/25)

  • Be prepared for upcoming weeks…  (in-person 5/25)

Comments from Other Students in the Class (indicate date of comments and if via email or in person)

• • Waiting on peer review on our final report

Risks and Areas of Concern

• • Difference between expected and unexpected behavior of the arms

    • The codes run but will they work with the arms?

  • Durability of 3D printed components and cables

Resources or Information Required but not Available

• • N/A

Schedule

• • Milestones (week 10)

    • Implement resistance code

    • Implement a base platform

    • REPORT, POSTER and WEBSITE

Budget (list amount spent and amount remaining)

• • Total Spent: $4213.77

  • Total Remaining: $86.23

Progress on Report and Webpage

• • Revisions for the second draft have been made but will be continued

  • Some images/CAD files have been added to the website