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
Budget
We have a current budget projection for the materials that have yet to be purchased from our BOM.Test Plans
- 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
Team and 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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