156B Week 9

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

• • Final Design alterations being made

  • Programming for position control of the stages in the works

  • Prepping CAD files to be machined by Tom

  • Mechanical Advantage prototype has been made

Accomplishments from Previous Week

• • Final Design finished on the computer (mostly)

  • Stepper motors are moving at the same time

  • 2nd draft of the report and website have been completed

  • Laser cut final design model of the 2X stage

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

• • Print out final design and mount motors (Razi & Sean)

  • Complete mechanical advantage equations and prototype (James)

  • Integrate sensor reading with motor movement in the programming (Dylan)

  • Complete draft of poster (ALL)

  • Test actual stage movement and test actual force output from mechanical advantage prototype (Razi/James/Sean)

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

Meeting with Delta Design (5/21)

• • Stepper Motor Control - open loop?

    • Open loop in the beginning to get stage working

    • Use hall effect sensors eventually

      • If something slips, this will correct for it

  • Lever in 1 DOF stage

    • Use force sensor to show more than 30 g of force for a proof of concept

  • Encoders

    • Not functioning but fit them into CAD mechanically

    • 1.6 mm x 1.4 mm

    • Data sheet for encoders (Keith will email this)

    • 6 balls for connection

    • Stick with the squiggle motor encoder, no time to get something Delta Design can use, they would have to start from scratch

  • Ask Dr. Tustaniwskyj about his idea for mechanical advantage

  • Lever

    • At least 5 times mechanical advantage would be good

      • This would prove that the concept can be done

  • Stepper

    • Order connectors soon

  • 105 mm stage

    • This should be machined - screw on flexures

      • More robust

      • Metal stage is more impressive for the poster session

  • Send link for quad stepper to Keith

  • Write code by Tuesday

  • Order connectors today

  • Create a schedule with deadlines

  • Mathematically show how the movement works for each stage

  • DO not worry about manufacturability 

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

Meeting with Dr. Delson 5/21

• • 10-14 mm travel on stepper motor

  • Cutting threads on the stepper - put a nut on lead screw first

  • Deliverables 

    • 1 axis

    • Mechanical Advantage

    • 2X model - open loop but try to get sensors in here

    • Week 9 - final presentation to class

      • Create a slide for what we need to fill in once everything is done

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

Comments from Proof of Concept Presentation (5/7)

• • Some compliments:

    • Good prototypes

    • Good job with the problem definition

    • Nice CAD, video, and pictures

    • Good progress and way to get a moving part

  • Some suggestions:

    • Have another video at a different angle or with better lighting.  Maybe point to the parts that are moving since our project is so small

    • Explain company's intention for having a 2X model.  Will be be downsized in the future?

    • Good luck on programming with I2C.  Talk to Steve Roberts on I2C programming

    • Pico-motors as a possible alternative to squiggle motors

    • Make sure that since you are splitting up the work to still communicate with each other

    • Utilize 3D printing.  What are you going to do for mechanical advantage?

Risks and Areas of Concern

• • Machining a 2X model with Tom

  • Drilling into flexure material for mounting

  • Getting closed loop control of the stages in the 2X model

Resources or Information Required but not Available

• • N/A

Schedule

• • Milestones:

    • Implementing the stepper motors in the final design

    • Controlling motors

    • Completing mechanical advantage concept

    • Finishing the 2nd draft of the report

Budget (list amount spent and amount remaining)

• • For a detailed account of the project budget please see the "budget" section of the website.

Progress on Report and Webpage

• • The website is being constantly updated

  • The progress reports are being constantly updated