156B Week 5
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Design nearing final iterations
Code is being debugged, commented, and improved
Open Loop controls are implemented but being verified
Closed Loop controls have not been developed for more than one segment
Fabrication is waiting on shipping parts and finalizing design
Accomplishments from Previous Week
Tested a potential sleeve design which proved ineffective
Designed and printed 2 new backbone prototypes
Discovered previous group uses beta and theta interchangeably although they had been explained as different angles
Commented and improved readability and efficiency of code
Discovered that the robot code and IMU uses an unorthodox xyz coordinate system which does not follow right hand rule and is different from in kinematics paper
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Fix XYZ system so it is consistent and easily understood
Finalize backbone design
Understand and comment kinematics code
Write first draft of final report
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Current backbone design seems to function much smoother
Approximate flexible segment and string lengths using constant curvature (not chords between discs) because backbone design is still changing and not worth the complicated kinematics to overcome minimal error
Pursue research into redirecting magnetic fields
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Gave advise on design of backbone sections
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
New design may limit DOF of backbone
Thinner discs improve DOF but increase likelihood of breaking
Resources or Information Required but not Available
Schedule
Budget (list amount spent and amount remaining)
Progress on Report and Webpage