156B Week 9
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Final designs being CAD'ed for elbow, forearm, bicep, and hand.
Getting ready to print all components on Dimension sst
Accomplishments from Previous Week
2nd Prototype fit (without actuation) on Gabby (05/24) (Estelle, Michael, Erik)
Forearm enclosure final design CAD'ed (Estelle)
Determined final wiring schematic + functional code (- elbow encoder) (Maris)
Tolerance test for wrist with long ball nose spring plungers printed (Estelle)
Final iteration of elbow assembly CAD'ed (Michael)
Final prototype of elbow assembly Printed + Assembled (Michael)
Machined components (Erik and Michael)
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Complete final design changes on elbow assembly (Michael), forearm enclosure (Estelle), bicep enclosure (Maris+Erik), hand (Erik)
Printing final iteration of major components on dimension sst (Michael, Estelle, Maris, Erik)
Ordering all final hardware: Velcro, d-rings, spacers, wire harnessing, teflon tubing (Maris)
Machining Delrin & aluminum components (Erik, Michael, Estelle)
Integrating power management solution (Maris & ECE hopefully)
Finishing up coding of motors and joystick actuation (Maris & Michael)
New protoboard to be created (soldered)
Determine elbow position feedback
internal (software) or external encoder development for elbow
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Would like for it to be lighter (Gabby, 05/24, in person)
Looking at decreasing infill and removing extra material from all components for final designs
Would like for it to be easier to put on (Gabby, 05/24, in person)
Looking at using velcro with d-rings for forearm enclosure
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
3D printed material not optimal for elbow solution (needs two bearing surfaces, not just 1) (Prof. T, 05/21, in person)
Was redesigned and printed/assembled by Michael using aluminum shaft and two bearings+spacers (05/24)
Comments from Other Students in the Class (indicate date of comments and if via email or in person)
How are you going to make sure it's durable? (prelim. design pres, in person)
By machining components that will be experiencing high loads/friction
Risks and Areas of Concern
Power management integrated in time by ECE & made safe
Elbow hard and soft stop being robust (prevent hyper-extension)
Everything finished in time
Gabby liking the end solution and actually using it
Finalizing Tension system for finger tendons
Resources or Information Required but not Available
Time
Schedule
06/08 Final solution to be fitted on Gabby
Budget (list amount spent and amount remaining)
Amount Spent: $1,404.87
Amount Remaining: $795.13
Progress on Report and Webpage
2nd draft of Report completed and handed off to team 6 for review