156B Week 2

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

• • Analysis: Exploring kinematic techniques described in Webster & Jones 2010. Emphasis on D-H parameters as they relate to constant curvature continuum robotics.

  • Design: No classical design work in-progress for now.

  • Fabrication: Awaiting new components (mainly breakout USB and other electronics) to continue troubleshooting single-segment assembly.

  • Tests: Cannot test control over segments until fabrication of at least one segment is complete.

Accomplishments from Previous Week

• • Confirmed assembly error is not from the Arduino Mini Pro or from the Arduino code. Likely caused by the breakout USB (more likely) or incorrect wiring (less likely).

  • Given relevant research article describing a kinematic model we will implement. Began deriving the model.

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

• • Get one segment assembled. (Kevin N., Kevin M., Calvin).

  • Re-derive piece-wise constant curvature kinematic model from Webster and Jones 2010. (Madatya, Matthew).

  • Create single-segment constant kinematic simulation. (Matthew, Madatya).

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

Sponsor Comments:

• 1. Use the Webster and Jones 2010 model. (In-person 1/11/19).

  2. Get one segment working. (In-person 1/11/19).

     1. Order parts as needed. (In-person 1/11/19).

     2. Wait on custom PCBs until one segment works. (Email 1/14/19).

Actions Taken:

• 1. We began reading and re-deriving the paper.

  2. We continued troubleshooting, and we contacted Ian and Dr. Roberts for assistance.

     1. We ordered a number of parts for troubleshooting and for assembling the remaining 7 segments.

     2. We learned the time required for the custom PCBs (2 weeks) and will order them as needed.

Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

• • Instructed to meet with our sponsor ASAP to address electrical issues

    • Meeting scheduled the following day

    • New components ordered immediately to aid in troubleshooting and resolve our issues

    • Aim to meet with sponsor weekly

  • Conversely work on controls problem & update Gantt Chart to meet our new goals/deadlines

Comments from Other Students in the Class (indicate date of comments and if via email or in person)

• • Not applicable. We have not presented yet.

Risks and Areas of Concern

• • Assembling 8 segments. We are far behind schedule.

    • We cannot characterize the segment behavior or test control algorithms until at least one segment works. We will need all segments for full testing.

Resources or Information Required but not Available

• • None.

Schedule

Budget (list amount spent and amount remaining)

• • Spent: $503

  • Remaining: $1000

Progress on Report and Webpage

• • Report: Some figures and notes for piece-wise constant curvature kinematic model.

  • Webpage: None.