Project Objectives
Concisely list and prioritize the project objectives and constraints
High Priority Objectives:
Create simplified kinematic model with rigid links to predict joint forces and motion
Create simplified structural/dynamic model (with arm in fixed-positions) with flexible links and motors modeled as springs to predict modes and stresses
Design updates to fundamental mode to above 5 Hz (above 10 Hz if possible)
Design flex-link
Design break-away link
Update control interface for better usability:
§ Create option to import .csv files to specify input motion as a time history
-Units for input .csv should be in degrees of rotation
- Include error trapping for over-rotation of motors / interference of links
§ Create visual display of kinematic motion for the input motion profile
§ Create a way to record or log command and responses for each motor
§ Create a way to specify which responses are output to analog channels for recording on a separate DAQ
Other Constraints and Issues
* Scope of work may be limited based on social distancing constraints.
WOW Design Solution:
Further improvement on motor-control interface
Lighten arm links / optimize motor performance
Increase frequency of figures first mode in retracted position to 10 Hz
Increase frequency of figures extended-arm first mode to 5 Hz
Make figure easily dis-assembleable for transport. Disassemble into 3 components: Torso, Shoulder, Arm
Risk Reduction Strategy
List areas of risk and strategy that will be used to eliminate risk really in the design process.
Research software packages to determine what each is most suitable for
Consult Prof Delson & Anem for questions on theoretical modeling
Intermediate Milestones
Identifying meaningful intermediate milestones is a critical for effective project management. Together with your sponsor identify such milestones, and specify specific performance requirements you aim to meet at each milestone.
Determine equations of motion
CAD models
Theoretical models (MATLAB, WM2D, CoppeliaSim)
GUI for Control Interface
Comments from Other Students in the Class (indicate date of comm