P15041: Smart Walker III
/public/

Build, Test, Document

Table of Contents

Final Files

The final working files for Smart Walker 3 can be found in this folder. This was the state of the project at the end of MSD2.

Schedule

The schedule, broken down by subsystem, is located here. In a more general sense, the project tasking (what each team member is assigned) can be found here.

Test Plans & Test Results

The test plans for the walker can be found here.

Phase Assembly Breakdown

ME Weeks 3-5

Strain Gauges
Mounted Strain Gauges

Mounted Strain Gauges


Clutch System

Several iterations of the clutch actuator were printed and tested. Small modifications were made and the final piece was implemented and tested. Though successful, testing revealed that supplying 24 volts to the solenoids makes them much more reliable than supplying 12 volts like the current configuration.
Implemented Clutch Piece

Implemented Clutch Piece


Xtion Case

The case and case backing were both printed. There was a small amount of movement when the camera was placed inside. This was due to the large tolerances that 3D printed components naturally have. Material was used to pad the camera which stopped the movement.
Xtion Case

Xtion Case


Wheel Assembly

The drawings for the new bearing plates were submitted to the machine shop.

public/Photo Gallery/topplate.JPG public/Photo Gallery/bearingplates.JPG

ME Weeks 6-8

Electronics Enclosure
The seat was disassembled so the enclosure could be mounted. Holes were drilled in the steel plate, the enclosure was bolted to it via the holes, then the seat was reassembled. This was all done after the hardware was secured inside the enclosure. The hardware is easily accessible by lifting the seat.
Mounted Enclosure

Mounted Enclosure


BMI

An unsuccessful attempt was made at implementing BMI sensors into the handles. It was difficult to properly place them into the grips while the grips are attached. Since the grips cannot be removed without being damaged, two sets of grips were ordered. This allows the sensors to be incorporated before the grips are permanently attached to the walker.


Xtion Case

The case was modified so that the backing could be secured. We used helicoils so the backing can be bolted on for an aesthetically pleasing, secure, easily removable system.
Xtion Case

Xtion Case


Wheel Assembly

The new bearing plates were manufactured and picked up from the machine shop. The assembly was completed week 8.
Bearing Plates

Bearing Plates


ME Weeks 9-11

Wheel Assembly
An issue with the bearing plates was discovered upon reassembly. The interference fit between the bearings and the plates was just off enough to not hold the bearings in. All bearings were secured with locktite, and the plates were reassembled.


BMI

After a discussion with the machine shop, we determined that thick foil would be a better material to use for the sensors. We soldered the connections to the foil and then secured them to the handles as shown below:
BMI Sensors

BMI Sensors


However a conductivity test revealed that the foil would not be a viable solution.

ME Weeks 9-11

BMI
The foil was removed and the electrodes from the handheld BMI were implemented in their place. They were soldered to connections and then secured to the grips via a silicone sealant adhesive:
Final BMI Sensors

Final BMI Sensors



Home | Planning & Execution | Problem Definition | Systems Design | Detailed Design | Build, Test, Document | Publications & Presentations | Photo Gallery