Milestone 4

Milestone 4.1 - Optimization

Palm Curvature

Initial designs and prototypes had a flat palm design, but after assembly, it was discovered that the hand did not fully wrap around the radius of the steering wheel. The palm we reiterated to include a 20 degree bend near the midpoint to mimic human hand flexion and create a better grip on the steering wheel.

Wrist Joint

Originally, the hand was planned to attach to the forearm mount using a ball-and-socket type joint, but it was later decided that using a simple hinge joint would prove more useful for MVP validation. Additionally, the hinge-style joint is being considered as a more practical option for future versions.

Milestone 4.2 - Delivery

Final 3D printed hand assembly with steering wheel

IMG_3750.mov

Milestone 4.3 - Management

Following Original Timeline

The team stuck to the timeline set in Milestone 2.1 to stay on task throughout this project. The team found the necessary equipment they needed to order over the winter and began assembling and iterating prototypes throughout the spring semester. Lead designer Nicholas went through many iterations of the 3D printed design until the final prototype was settled on. Andrew soldered necessary electronics and assembled the breadboard and motor driver, that would be used for the final prototype. Rumi and Vincent designed and tested the software throughout the semester, while collaborating with Matthew, who took the lead on creating the MyOware Sensor system for the project. Although there were delays, the team used the beginning timeline as a guide and adjusted the dates of deliverables when needed.

Delays

3D Printed Hand Design: Had failed prints setting back test-fittings. 3D printed tolerances were finicky and had to be adjusted multiple times for the best hardware fit.
Electronics: Damaged motor driver causing short circuiting in the system. Having compatibility issues due to the motor shield not establishing an I2C connection with the Arduino board we were currently using. Ordered new and improved motor driver as well as Arduino board and waited on arrival to continue electronics assembly.
Software: Relying on all other subsystems complete assembly to test code for final validation, encompassing all previous delays.

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