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Detailed Design

Table of Contents 1 Team Vision for Detailed Design Phase 2 Progress on Action Items from the Previous Review 3 Customer and Engineering Requirements 4 Prototyping, Engineering Analysis, Simulation 4.1 Finalized Torque Analysis 4.2 Notes 5 Drawings, Schematics, Flow Charts, Simulations 5.1 Electrical Layout 5.2 Motor timing diagrams 5.3 Mechanical Design 5.4 AJ 5.5 Nick 5.6 Physical Wiring 5.7 Drawing Package 6 Bill of Materials / Budget 6.1 Bill of Materials 6.2 Budget 7 Test Plans 8 Risk Assessment 9 Design Review Materials 10 Team and Individual self-critique 11 Plans for next phase 11.1 MSD II Project Plan 11.2 Action Items for Next Review

Team Vision for Detailed Design Phase

Over these three weeks the team planned to add a degree of freedom to the lower body design and finalize this design in order to begin machining. The electrical team focused on finalizing the circuit schematics and interfacing with the mechanical frame. In addition, the team aimed to start work on the walking algorithm using the existing test joint. The team also started working on a plan for senior design II in the spring.

Progress on Action Items from the Previous Review

• Completely finalize and begin machining lower body
  • Some machining has taken place and the lower body design is almost finalized
• Layout electrical system within mechanical design
  • Preliminary work has been done with consideration of the electrical component layout within the mechanical design
• Create MSD II Project Plan
  • A projected plan for MSD II has been created and is provided at the bottom of this page
• Notes from Preliminary Detailed Design Review

Customer and Engineering Requirements

Link to download revised Customer and Engineering requirements

Prototyping, Engineering Analysis, Simulation

Finalized Torque Analysis

Link to download finalized Torque Estimates spreadsheet

Notes

• Values revised and torque values at angle more in line with what was expected
• Did not impact motor choice

Drawings, Schematics, Flow Charts, Simulations

Electrical Layout

Link to download Electrical Layout pdf

Motor timing diagrams

All timings are relative to each other, outside of a 'real' time frame.

These diagrams only cover the actual function of taking a step, they do not account for shifting weight which would happen prior to the right foot forward diagram.

Link to download Motor Timing diagram spreadsheet

Mechanical Design

AJ

• front view

• hip / lower torso

• leg

• ankle / foot

Nick

• Front view

• Side view

• incorporates angled "femur" as in humans to improve balance
• added structural stability in thigh

• Plate across front and back of leg helps deal with torque in angled leg design, screwed into frame on top and bottom and in corners

• axial coupling used as in directly driven joints

• clamps in these couplings provide a much more secure hold than a set screw, without marring the material like a set screw often does

Physical Wiring

All wires will be housed within a flexible conduit in physical implementation

Drawing Package

• Sample Drawings

Link to view/download latest drawing package

Bill of Materials / Budget

Bill of Materials

Link to view BOM spreadsheet

Budget

We have a current budget projection for the materials that have yet to be purchased from our BOM.

Test Plans

Link to download Test Plan

• can use this old engine hoist to support tigerbot during testing

• well over required load capacity

Risk Assessment

Link to download revised Risk Assessment spreadsheet

Design Review Materials

• Final Detailed Design Review Agenda

• Final Detailed Design Review Handout

• FDDR Notes

• MSD I Gate Review Notes

Team and Individual self-critique

• Link to Team Self-Critique
• Link to Individual Self-Critique

Plans for next phase

MSD II Project Plan

Link to download Project Plan spreadsheet

Action Items for Next Review

• Get knee moving from known start point to known end point with Teensy
• Complete all PCB Designs
• Finalize the lower body design electrically and mechanically
• Secure extra funding needed for motors and mechanical raw materials
• Have framework for walking algorithm
• Acquire equipment and location for testing

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