156B Week 6
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
The backbone joint design is finalized.
Adapt the MATLAB kinematic simulation for 2 segments
Accomplishments from Previous Week
Finalize the backbone design and finish the prototypes using FDM 3D printers
Adapt the MATLAB kinematic simulation for 2 segments
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Finish assembling a working segment
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
05/06/2019 Sponsor Meeting
Recommended that we finish assembly of a working segment by next week. (we are working to accomplish this)
Comment about Joint Design: If new joints don't bend smoothly we can machine a Nylon rod or similar material as the joint between the intermediate plates. (will only be taken into consideration if joint bending is an issue)
Comment about Open-Loop error: We are allowed to ignore error in the open-loop control in order to make the control easier and viable.
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
04/30/19 Instructor Meeting
Comment about IMU Axes: Look into documents of how to change the left hand rule to right hand rule.
Comment about new joint kinematics: Implement new kinematic calculation consider the backbone part as multiple joint connections instead of pure flexible spring.
Comments from Other Students in the Class (indicate date of comments and if via email or in person)
None at this point
Risks and Areas of Concern
Risk: Stress on individual joints
Concern: IMU’s default coordinate system using left hand rule instead of right hand rule.
Concern: New backbone design using intermediate may require new kinematic calculation and simulation.
Resources or Information Required but not Available
None at this point
Schedule
New segment Fabrication
Update Gantt chart.
Budget (list amount spent and amount remaining)
Spent: 6 IMUs: $330.8
Spent: 2 Motor Drivers: $119.06
Remaining: equipment and parts $550.14
Remaining: shared shop *$1800
Progress on Report and Webpage
First draft of report is finished. Need to revise it and add more information to Chapter 3, References, and Chapter 5 once segment tests are conducted.
Weekly update on the team web page.