156B Week 7
Overview of Status of Analysis, Design, Fabrication, Tests, etc.
Controls interface: able to use keyboard to control the robot
Flexible/Fuse Link design: design ideation and discussion
Accomplishments from Previous Week
Able to control the robot with a keyboard
able to send a time history of the joint angles to the motors.
Listed several design options for the flexible link. CADed the design and created the engineering drawing for the fuse link
Goals for Next Week (list names after each item). Use specific and measurable objectives.
Complete CAD design for flexible+fuse link combination
When the time history of joint angles is sent, the motion is
Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Sponsor likes the designs and suggests us to combine both the fuse link and flexible link.
Purpose of links:
Fuse Link:
Want to be able to say when and if it’s going to break.
To provide a discontinuity in the system.
Show that we can accurately predict a failure.
Flex Link:
Want to be able to predict forces and stresses inside resonant frequency range.
Without link Modes are higher than the excitation. We want to bring modes down. In real life it is very difficult to make a structure very rigid.
We want to optimize the speed of the robot. That usually comes with making robot less stiff (lighter).
Want to create a model that can approximate the same difficulties in analysis. Changing geometry to being more flexible will simulate a larger robot.
Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)
Professor said to avoid arm positions where the Jacobian doesn't exist.
I still haven't tried implementing this idea into the code.
We were more focused on being able to send time history of joint angles to the motor.
If you put a gap between the magnets then it could reduce the magnitude of the force
Add mini magnets one at a time to adjust the magnetic force
Comments from Other Students in the Class (indicate date of comments and if via email or in person)
N/A
Risks and Areas of Concern
Design and reliability
inputting time history of joint angles makes the motion of the arm very jerky. I can explain more during meeting.
Resources or Information Required but not Available
N/A
Schedule
Milestones
send time history of joint angles (motion profiles) to the motors.
Complete XYZ-controller
Budget (list amount spent and amount remaining)
N/A
Progress on Report and Webpage
On track