P14253: Underwater McKibben Muscle
/public/

Meeting Minutes

Table of Contents

Meeting Minutes

November

- 11/7/2013

In Attendance: Will, Jared, Joe, Erika, Chris, Dr. Lamkin-Kennard

Team Planning & Areas of Critical Risk

October

- 10/31/2013

In Attendance: Will, Jared, Joe, Erika, Chris

SSDR Presentation Notes:

- 10/8/2013

In Attendance: Will, Jared, Joe, Erika, Chris

SDR Presentation Notes:

Action Items

Next Meeting

Wednesday 10/9 @ 6:30 - Focus on concept strategies & sub system roles

- 10/7/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Put SDR presentation together and went over presentation roles.

- 10/1/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Next Meeting: Thursday Oct. 3rd at 12PM in lab before meeting with Dr. Lamkin Kennard at 1PM

September

- 9/30/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Reviewed concept selection and adjusted selection criteria

Meeting tomorrow 10/1 during class time

- 9/26/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Objects to pick up and move:

Golf Ball, Dive Stick, Brick, Cinder Block

Concept Selection:

Add: Resemble an arm and hand, Hand shaped gripper

Revisit:

Lightweight (manageable package size CR, weight and size requirement ER)

Design Simplicity: What drives this decision (# of drawings, muscles, controller interactions, etc...)

Trade-offs between designing for waterproofing electrical motors vs. designing McKibben actuation

Research:

Look into proportional control valves

Look into Patents on McKibben Hands

Hydraulic Motors - Pressurized water drives motor

Action Items:

Will - post Benchmark Specs and Risk Assessment on Edge, Concept Selection, Drawing, Project Plan

Chris - Engineering Analysis, Proportional Controls

Joe - Research Hydraulic Motors

Jared - Concept Selection

Erika - Electrical Engineering Analysis, Controls

Meeting at 6:30 PM 9/30 at Design Center

Action Items:

- 9/24/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Discussed what we need for SDR

Prepared for meeting on Thursday

Meeting at 1 PM 9/26 at Lab

Action Items:

Erika - Benchmark Specs

Joe - Summarization of Risk Assessment

Chris - Operational questions for Thursdays meeting

Jared - Agenda & Questions and areas of concern

Will - Sketches & Planning

- 9/23/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Developed concept selection pugh analysis.

Gripper and Electric arm look to be optimal concept as of right now

Meeting at 1 PM 9/26 at Lab

Action Items:

None

- 9/18/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Reviewed functional decomp and concepts generation.

Made formatting edits to edge website.

Action Items:

Erika - adding presentation to edge website

- 9/17/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

1. Worked on the functional decomposition of the project which was started during the lecture hour.

2. Gathered information for the Subtract and Operate procedure which will be used to add more detail the functional decomposition tree which will be evaluated and edited as the project progresses.

3. Compiled individually brainstormed risks within the project and completed the assessment of each of item.

Action Items:

- 9/16/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Review and Revision of thoughts brought to our attention from the Problem Definition Review

  1. Reworked Engineering Requirements from input
  2. Watched video that's homework before tomorrow's lecture

Action Items:

- 9/12/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

Problem Definition Review

Things to consider as we move forward:

  1. Look at displacement for human hand/arm in relation to what we have created to get a more realistic sense of movement and dexterity
    • This advice was originally given to the fish project, however, this can definitely help
  2. Sub-requirements
    • Look into shapes and size of what we want the prototype to hold
    • Use real world items (i.e. wrench, pipe, etc.)
    • Think of tasks that we want the arm to perform for a better demo for Boeing and Imagine RIT
  3. Sensors in hand to differentiate between materials being handled
  4. Safe Operation
    • Consider pinch points
    • Electrocution
    • Torque perimeters
  5. Drop Test
    • Need to specify how we will measure this drop test
    • Use the packaging test lab in CIMS
  6. Failure modes
    • Function when handicapped
    • Decompress for fail safe
      1. All valves open
      2. When signal is lost
  7. Use McKibbens muscles instead of springs to get a more controlled release of a grip
    • This can help underwater because we may need greater force to have manipulator go in the other direction, which wasn’t necessary for previous projects

Action Items:

- 9/5/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

This was a quick meeting after lecture to discuss action items.

Notable Calendar events:

Action Items:

  1. Project Plan Gantt Chart - Will
  2. Research and Benchmark
    • Different Styles of McKibben Muscles (Advantages and shortcomings) - Jared
    • Hydraulic Arms used underwater - Joe
    • Arms used above water - Chris
    • Festo Arm - Erika
  3. Talk to Lamkin-Kennard - Will, Jared, Joe
  4. Rework Customer and Engineering Requirements - Will, Jared, Joe
  5. Update/Rework website per Guide's feedback - Erika
  6. Put Presentation together - Team (Monday @6:30)
  7. Presentation template sent to team - Will

- 9/4/2013

In Attendance: Will, Jared, Joe, Erika, Chris

Notes:

  1. Created team values and norms document based off discussion in class (9/3/2013)
  2. Briefly discussed design drivers and challenges
    • Design Drivers
      • anthropomorphic
      • McKibben Muscle
      • Using water as an actuator
    • Design Challenges
      • Dexterity
  3. Assigned Will as project manager

Action Items:

  1. Watch project planning video on MyCourses
  2. Further brainstorm design drivers and challenges to be discussed next meeting