*156B Week 1

Week 1 Progress Report

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

Assembly: Current Segment of Snake Robot is not working.

Design: Understanding design work from previous group. Design is not one of our responsibilities.

Testing: We rewired the assembly, used a new power supply, but still does not work.

Model: Investigating objective functions using general solution of Jacobian inverse kinematics.

Accomplishments from Previous Week

Most recent accomplishment is determining that the segment given from our sponsor did not work at all, and we need to meet with the sponsor as soon as possible to talk about possible decisions or new goals.

Other accomplishments include creating an inverse kinematic simulation for open kinematic chain and creating a geometric model for flexible segments to be used in future kinematic simulations.

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

• • Figure out the circuit of the prototype to work (Kevin M., Kevin N., Calvin).

  • Implement objective functions in Jacobian inverse kinematic simulation (Matthew).

  • Derive geometric relationship for flexible segment model (Madatya).

  • Contact Professor Yip (Madatya).

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments

• • Making 8 segments as soon as possible to save time for control problem.

  • Create model for flexible segments.

  • Extend everything to 3D.

Instructor Comments from Last Meeting and Actions Taken to Address these Comments

• • Add torque analysis.

  • Figure out if single segment ever worked.

  • Make plan for making segment work.

Risks and Areas of Concern

• • Ordering parts (stock and custom).

  • The prototype might not work at all, and it may need to be redesigned for good.

Resources or Information Required but not Available

• • Circuit of the prototype.

  • Prototype segment.

  • Documentation for previous code package.

Schedule

• • Upcoming Milestones:

    • Get single segment working.

    • Implement flexible inverse kinematic simulation.

  • Gantt Chart

Budget (list amount spent and amount remaining):

• • $1000

  • Unspent

Progress on Report and Webpage

• • Updating website