P08205: RP 1 Motor Module First Generation

Baker Interview 20071002

Interview with Jesse Baker

Interviewer(s): Wendy Fung

Interviewee: Jesse Baker, RP100 Platform, ME

Date: 2 October 2007, Phone

What was your role on the project?
I was on the RP100 Platform team. I was the liaison between the teams. I particularly worked with the RP10 Platform team to achieve scalability between the two sizes. I focused much of my attention on the drawings and the chastity of the platform.
What problems did you run into?
There were issues caused by the offset schedule of the RP100 teams. The RP100 platform wanted to be able to quick mount in two minutes but this was not communicated to the motor module team. The RP10 teams on the other hand worked during the same quarters.
What did you dislike about the interface between the platform and the motor module?
The turntable concept was difficult to interface with the platform. To achieve the integration, the platform team had to buy more material. The motor module had to be taken apart numerous times in order to deal with various issues, particularly, a pin in the drive shaft that constantly sheared. Also, the gears ran into problems because they were not shielded from the metal shavings.
From your standpoint, what did you like about the motor module?
The turntable concept was nice. But the motor module team had tested without the weight and so the motor module had worked well. But when weight was added, things did not go as planned. There was too much power and so the module would try to tear itself apart. The belt would slip frequently.
What do you think could be improved on? And how?
There should be quick connects. The turntable shape should be a square in order to ease the ability to lock it into the platform. The project will be a time crunch and if you can stay ahead and on time, things will be easier to deal with. In the current design, there were greatly varying wire gages. If this could be unified, connections would be better. The programming language was not well understood and so the robot would sometimes not do things properly. Bradley Whitlock and Nien (sp?) were the programmers for the RP10 and RP100 respectively.
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