156B Week 6
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Torso has been designed.
Orders for arm components have been sent out. Waiting for confirmation email.
FEA analysis completed.
Accomplishments from Previous Week
FEM of arm for analysis -- Selina
Incorporate shoulder into the FEM.
Compute modes of arm.
Recover joint forces and moments from kinematic model.
Hand calculations to support FEM analysis -- Zachary
Perform/finalize hand calculations for forces and moments in each joint.
Compare hand calculated forces, moments and modal frequencies with analysis results.
BOM and Figure Design -- Allysa
Place order for robotics hardware.
Prepare BOM for arm and identify components ready for purchase.
Incorporate models of arm, shoulder and torso frames in the CAD.
Determine if there is additional hardware needed for operation of the servo motors (power supplies, computer interfaces, etc.)
Torso Design -- Robert
Refine the torso design
Design the shoulder assembly
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Finish sending out orders. Coordinate with Robert to finalize torso and shoulder design and BOM.- Allysa
Finalize Torso design. Complete torso BOM and send to Allysa. - Robert
Finish up FEA and start familiarizing with motors. Goal is to actuate one motor (MX106T). - Selina
Finish up hand calculations and start machining components as materials arrive. While waiting for material assist Selina in actuating motor.- Zach
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Discussed final FEA results and hand calculations on (5/6/19).
Offered advice regarding soldering techniques on (5/6/19).
Finalized team roles for rest of quarter on (5/6/19).
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Presented Design Proposal to instructor and peers on 5/6/19.
Comments from Other Students in the Class (indicate date of comments and if via email or in person)
N/A.
Risks and Areas of Concern
Shipping times.
Coding to actuate motors.
Resources or Information Required but not Available
Schedule
Finish purchasing materials.
Start machining parts and assembling figure.
Update Gantt chart.
Budget (list amount spent and amount remaining)
Progress on Report and Webpage
Report 50% done, need to update Webpage.