156A Week 10

Progress Report 2 - 12/8/2020

What has been done:

• Ordered all parts for the motor drivers, motors and frame assembly

  • Jan Dustin, Jonathan, Sebastian, and Joseph

• Re-designed the 2 upper motor actuators with a different motor

• Create parts of the TriFinger in CAD and assemble

  • Jan Dustin - base and lower actuator assembly, Jonathan and Sebastian - robot frame, and Joseph - upper and mid actuator assembly

• Did a component analysis

  • Sebastian - Stepper Motor

  • Joseph - Timing Belt & Bearing

  • Dustin - Overall Dynamics

Sponsor Feedback:

• To make TriFinger easier to manufacture for everyone else especially for people in the US. (parts are able to be found on US market)

• Will meet sponsors again Wednesday 12/08/2020

Instructor Feedback:

• Risk reduction confirmation

  • Redesign the open source robot with easier to access, cheaper and lighter components

  • Overlaps with individual component analysis

    • Software development

    • Electronic selection

    • Power transmission and motor setup

Current Concerns:

• Topics for individual component analysis, do these all sound reasonable?

  • Software development (Inverse Kinematics) - Jonathan

  • Electronic selection - Sebastian

  • Power transmission -Joseph

  • Different motors -Jan Dustin

Next Steps:

• Design the power transmission / motor mounting for the last finger segment

  • Need the least amount of torque so a smaller, lighter motor is applicable

• Receive all ordered components and make rough prototype

• Do FEA Analysis Design on the frame

• Finalize arduino sketch to control the motors and test