P16201: Tigerbot

Build & Test Prep

Table of Contents

1 MSD I Post-Mortem
2 Team Vision for Build & Test Prep Phase
3 Bill of Materials
4 Test Plan Summary
5 Software Demo
6 Risk and Problem Tracking
7 Power Calculations/Feasibility
8 PCB Designs
9 99% finalized lower body design w/ box for electrical equipment
10 Gazebo Progress To Date
11 Design Review Materials
12 Updated Project Plan
13 Individual Task Lists

MSD I Post-Mortem

MSD I Post-Mortem

Team Vision for Build & Test Prep Phase

During this phase the team worked towards finalizing plans for testing the lower body prototype when it is built. The team has been working with the motor controls to ensure that desired functionality can be achieved with the Teensy architecture. As of now, the team is confident that the motors will be able to run as desired. The mechanical team worked towards machining parts and creating a gait simulation from the current design. The electrical team has been working on PCB designs and further feasibility analysis with the motors for the full system.

Bill of Materials

Test Plan Summary

We took our previous test plan layout and have reformatted the layout to fit the provided template. Revised Test Plan

The team will be testing on the Senior Design Center floor using an engine lift from the machine shop to support the lower body prototype.

Software Demo

Video Demonstration of Motor Operation

Currently, the motors respond to the programming from the Teensy.
The video above shows the clearpath motor's embedded homing function and the effect of increasing and decreasing the resolution (pulses per revolution).
Moving forward, we will need to find a way to use the homing function independent of the provided MSP software.
Currently, we are trying to figure out how to stop the motor and reset the enable for each run of the motor.
The previous team's git repository has some files related to the SDSK clearpath and these are being investigated further.
The previous team's work also appears to indicate that the ODROID was for running the ROS system, which is outside the scope of this iteration.

Video Demonstration of Motor Operation without Homing

On February 1st, the knee joint setup was run without using the homing function and with code to end the motor's motion and to reset the enable when the Teensy is reloaded. This is shown in the video above.
The previous team's code was not able to be used, but will still be investigated for research moving forward
At this point, we will probably need to create our own homing function, but we will continue to try and use the embedded clearpath homing function

Below are the pin assignments for the Teensy for one leg. The signals are set such that the B/move signal is on a PWM cabable pin wherever possible to simplify coding. In addition, the I2C pins that will be used for sensors are outlined in the document.

Teensy Pin Assignments

Risk and Problem Tracking

Risk Assessment Updated 2/8/16

The team has added a risk relating to the manufacture of cables for the I/O functions and power input of the motor.

The team also added a risk relating to gearbox assembly and care

As of now our risks have yet to manifest themselves into problems

Power Calculations/Feasibility

Power Calculations Overview:

Power Calculations Breakdown:

PCB Designs

FSR PCB:

Breakout PCB:

99% finalized lower body design w/ box for electrical equipment

Angled Lower Body View

Angled Torso Detail View

Front Lower Body View

Side Lower Body View

Gazebo Progress To Date

Gazebo abandoned due to requiring working knowledge of ROS.
Matlab will be used instead, to achieve same purpose.
Matlab simulation work is ongoing.

Design Review Materials

Link to view review agenda

Build and Test Prep Review Notes

Updated Project Plan

Updated Project Plan (as of 2/7/16):

In addition to the updated project plan, the team has projected demo goals for the remainder of the semester's reviews.
- Week 2/3: Software Demo (as shown above)
- Week 5: Daisy Chained Motors running at the same time
- Week 8: Joints running in concert, not fully assembled in the lower body
- Week 11: Full assembly of the lower body, joints able to move
- Week 14: Full step routine for Imagine RIT