Project Redefinition

Project Objectives

Concisely list and prioritize the project objectives and constraints 

High Priority Objectives:

1. Create simplified kinematic model with rigid links to predict joint forces and motion

2. Create simplified structural/dynamic model (with arm in fixed-positions) with flexible links and motors modeled as springs to predict modes and stresses

3. Design updates to fundamental mode to above 5 Hz (above 10 Hz if possible)

4. Design flex-link

5. Design break-away link

6. 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:

1. Further improvement on motor-control interface

2.  Lighten arm links / optimize motor performance

3. Increase frequency of figures first mode in retracted position to 10 Hz

4. Increase frequency of figures extended-arm first mode to 5 Hz

5. 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