156A Week 10

NOTE TEMPLATE GIVEN BY SPONSOR

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Project Status Update, Thursday 1/31/2018:

Brief summary statement.

Project Schedule

Due Date             Task                                                                                       Status

3/2                       Review all documentation from last year                               Completed

3/2                       Figure out how to fully operate animatronic figure                 90% 

3/12                     Obtain empirical values for nat. and resonant freq.               Completed

                            for worst and best case scenarios of joints

3/19                     Figure out how to get analog output of voltage,                     0%

                            current, torque, position, etc. 

3/19                     Name the animatronic figure and etch a nameplate               0%

Risks to Schedule

• • There is a tear in one of the wires so replace this wire. 

• There are few instances the motors don't behave as expected from the script. Determine the cause of these bugs. 

Team Member  Task Progress Last Week

Results Summary

There are no stresses exceeding allowables in the elbow joint

Next Week’s Task Assignments

• • Determine how to obtain analog outputs from the motor for voltage, current, torque, position, etc. 

  • Continue code development and control interface

Remaining Information Needed

• • Source code example

Budget

• • $1,500 budget

  • $0 spent

  • 0% of budget remaining

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

• Frequency Empirical Results: 

  • • Worst Case (Fully extended) 

      • Natural Frequency: 3.33 Hz

      • Resonant Frequency: 3.46 Hz

    • Best Case (arm at 90 degree angle)

      • Natural Frequency: 4.20 Hz

      • Resonant Frequency: 3.892 Hz

• Link to Arduino Codes for operating animatronic Figure

• • Drive (may need permission for access)

Accomplishments from Previous Week

• • Wrote a few scripts that do the following:

    • tests the full range of motion of the animatronic figure

    • Fully extends the arm of the figure

    • Picks up a cup and moves it across a table

    • Can read desired analog data (e.g. position, current)

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

• • Brainstorm potential designs for fused linkages (Cheeo)

  • Brainstorm potential designs for flexible linkages (Ulises)

  • Review documents covering real-time control interface of the motors (William & Edward)

  • Increase speed of reading/writing data

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

• • Figure out speed & acceleration capabilities based on torque

  • Get figure ready to read & collect data (analog output) using ATA's DAQ board

    • We figured out how to get the digital signals using the Arduino software. Still unsure how to get analog output. 

  • Design fused links that can be reused after every breakage. 

    • Assigned Cheeo Li to begin the design of this linkage. 

  • Design Flexure links - designed to bend in one direction 

    • Assigned Ulises Tellez to begin the design of this linkage. 

  • For linkages, focus on the design, use spring steel. 

  • Provide a system level block diagram. 

    • no actions taken

  • Provide models for the ..........

  • Test for frequency of worst case, best case, and intermediate cases

    • Tested frequency for worst and best cases. 

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

• • Delson said to learn to how to operate the animatronic figure and obtain the natural & resonant frequency of the system for risk reduction. 

    • Risk reduction has been completed

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

Risks and Areas of Concern

Resources or Information Required but not Available

Schedule

• • Describe upcoming milestone 

  • Update Gantt chart.

Budget (list amount spent and amount remaining)

Progress on Report and Webpage