156B Week 6

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

• • Assembly: Mechanical assembly of the first segment has been established.

    • Still need to attach motor caps with set screws (set screws needed).

    • Need to reprint base (due to support material obstructing string holes).

  • Model (Matthew): Flexible continuum forward kinematics complete.

    • Working towards integration of rigid links.

    • Inverse kinematics still unsolved.

Accomplishments from Previous Week

• • We finished machining the motor caps ( 8 of them) (Kevin M)

  • We have communicated with Sammie and have tested the arduino and matlab code which eventually run the motor. (Kevin Nguyen)

  • We have assembled the base with the strings, but still need an additional 3D printed base. (Madatya)

  • We completed the flexible continuum forward kinematic model and simulation. (Matthew)

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

• • Assembly: (Kevin Monsanto & Kevin Nguyen)

    • Finish second assembly

    • Rewire the external circuit and start soldering the motor wires.

    • Have to replace all the motor wires with magnetic wires.

    • Complete the wiring of the first segment ( by the end of this week)

  • Model: (Matthew)

    • Integrate rigid link.

    • Develop inverse kinematics.

    • Implement in control software (MATLAB & Arduino)

  • Control: Control the segment by the end of this week

    • Start controlling the second segment (the current matlab and arduino code is only good for one segment).

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

• • Assembly: None. (No meeting last week).

  • Simulation: (Matthew)

    1. Clarified needs of shape control.

       • Only need input angles, not distal end position.

    2. Gave recommendations to implement inverse kinematics.

       • Yet to attempt implementation.

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

• • Dr. T reminded us we need to meet with our sponsor weekly.

    1. We are scheduling weekly meetings.

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

• • Presentation Feedback (online forms):

    • More figures (pictures, specifically).

    • More physical deliverables.

    • Share speaking equally.

    • Less reading off the slides, less words on the slides.

    • Video of prototype.

    • Explanation/animation of twisted string actuation.

    • More future plans.

Risks and Areas of Concern

• • Getting a single segment to work.

  • Possibly short circuiting the parts.

  • Expanding code to multiple segments.

Resources or Information Required but not Available

• More extensive knowledge of computer science and electrical engineering.

Schedule

• • Upcoming Milestones:

    • Get single segment working.

    • Integrate rigid link into forward kinematics.

    • Implement flexible inverse kinematic simulation.

  • Updated Gantt chart:

Budget (list amount spent and amount remaining)

• • Remaining: $498 ($502 spent)

Progress on Report and Webpage

• • Report:

    • Deciding on chapters and content to include.

  • Webpage:

    • None.