Progress Report
03/08/2018
Group 24
Updates:
Moved project to temporary workspace in EBU-II basement ✓
High Priority:
Cabling: Cables need to be strengthened to meet load requirements. Current consideration is a ⅛” diameter braided steel cable.
Disassembly/Reassembly: Taking this apart should be done in an organized fashion, with each step organized so that future reassembly and disassembly can be done. One team member will only be documenting the process to a powerpoint during disassembly.
Tensioner: To supply a no slip cable condition, the tensioner will need to be modified to supply a high resistance force.
Pulleys: To improve sustainability under high tension loads, more resilient surfaces will need to be added to the pulleys. Current consideration is an epoxy sealant or a metallic tape.
Inversion: During reassembly, the design must be modified such that the two arms are inverted. This will be done using an aluminum frame which will support the weight of the two arms. CAD has yet to be started.
Fasteners: To assure accuracy, more precision fasteners are required. Current considerations are nutted machine bolts with washers and threaded inserts.
Low Priority:
6th DOF: Begin concept design for 6th Degree of Freedom, with a gearbox for the supplied motor being a top priority for this.
Materials: Decisions on whether or not the plywood will be sufficient for high loads and sustainability. The haptic feedback will be added slowly beginning with much lower force than the eventual requirement.
Object Tracker: Potential 9 axis/ 6 axis IMU to track relative position to other components located on the arms.
Decisions to be Made by Next Week
Cables
Fasteners
Tensioners
Pulley surface
Action Items for Next Week
Begin disassembly of one arm
Begin inversion structure CAD
If available moved into permanent workspace
Git project opened ✓