*156B Week 1

What has been done:

• Purchased timing belts and gear bundle (3:1 ratio) instead of using 3D printed components

Status:

• Finger actuator and finger tip modelled and assembled (for one finger)

• Waiting for frames to arrive for base assembly

• Inverse Kinematics software completed in Matlab

• Redesigning the base actuator with the new gears and timing belts

• Base has been completed in CAD

Sponsor Feedback:

• N/A - we were unable to meet with the sponsor over the winter break

Instructor Feedback (12/17/2020):

• Present more calculations and show more in depth decision making for component selection

• Slides were in Prezi format, which was not as effective as a traditional presentation

• Include step-by-step documentation for assembly of the system

• We talked too much about affordability and cost effectiveness rather than actual specifications of our components and their functionality

Student Feedback (12/17/2020):

• Work on presentation timing

• Presentation format was difficult to follow with too much small text

• Did not touch on broader impacts

• More data should be included in the presentation (results of testing, how components fit together)

Current Concerns:

• How can we improve presentation-wise?

• Implementing the MATLAB code to the Arduino

• Pushing the due date for a single finger assembly with autonomous movement up a week or two

Next Steps:

• Redesign shell components to fit the new gears and timing belts purchased

• Design the diagonal arm actuator

• Minimize size and weight as much as possible

• Once t-frame components arrive, assembly the base

• Test one finger and if successful, build the other 2 exactly the same way

• Fully assemble the system

• Develop software for autonomous control