Subsystem Build & Test
Table of Contents
Team Vision for Subsystem Level Build & Test Phase
During this phase, the team aimed to create a demonstration of at least two daisy-chained motors, running at once. To date, the cables have been cut to the lengths provided by the Mech E team, however the tin crimps gathered from surplus were found to be too small for the wire gauge. Samples have been ordered for the tin crimps specified in the Teknic motor manual. The cables were tested and the results are outlined below. The team has also continued to work on the PCBs and testing the level shifter functions with the Teensy. The PCBs were ordered Tuesday (2/23) and the level shifter protoboard was successfully tested and functions appropriately. Parts are continually being machined for the lower body as well.
Test Results SummaryThe test plan was updated for sensor testing per the previous design review: Updated Test Plan
Also added is an EE test plan: EE test plan
Daisy-Chained Motor Demo
- Unfortunately, when two motors were plugged in, the power supply shorted and both fuses blew. We will be getting new fuses and contacting Teknic for advice moving forward.
FSR UpdatePer the last review, the FSRs were benchmarked against other humanoid robot designs as shown: FSR Benchmarking
In addition, a walkthrough doc was created to explain the FSR board and functionality: FSR PCB Explained
Risk and Problem Tracking
- The team's risk assessment document was updated Updated risk Assessment Document
however, some issues required more attention and these are highlighted below.
- Gearbox Assembly Progress
- 2/23/16: Gearbox grease has been received. Multiple gearboxes have been assembled. Need a few more output and mount plates machined in order to completely finish all gearbox assembly.
- Cable Manufacturing Progress
- 2/18/16: One cable has been cut to lengths specified by AJ to fit design so we can start testing motors without the lower body rig being built. Upon cutting the cables it was discovered that the tin crimps found for free were not big enough for our wire gauge. We are in the process of obtaining appropriate crimps so we can continue to manufacture our cables.
- 2/23/16: The specs of the motor manual are entirely incorrect, so samples have been ordered for the correct sizes. This has set us back in terms of manufacturing cables and daisy chaining the motors. A psuedocode will be created so when we have the materials, the code can be written more quickly to expedite testing as much as possible.
- 2/25/16: An order for new fuses was placed this morning so the team should have the power supply up and running next week and continue working on daisy-chained motor testing.
- PCB Designs
- 2/18/16: All PCBs are nearly done and ready to be ordered. This weekend, Rinchen will be finishing the traces of the FSR board and the order will be placed Monday. The surface mount level shifter was tested with the Teensy and motor to ensure proper functioning. The test was successful and we are working towards increasing the motor speed.
- 2/23/16: All PCBs have been ordered. Once received, we will begin testing immediately.
- Gazebo/Matlab Progress
- 2/23/16: As per discussion with Dr. Sahin, Gazebo/Matlab simulation will be dropped as part of our scope.
- Ordered Parts Status
- 2/18/16: We still need more aluminum for the lower body, mating connectors for the motor cables, washers for the gearboxes, the PCBs, and potentially a second power supply and more motor cables as well as ribbon cables for the I2C sensors.
Some of these problems were explored in more detail using the problem tracking template provided: 16201 Problem Tracking
- side view
- iso view of foot only
- top view
Updated Project Plan
- In addition to the updated project plan, the team has
projected demo goals for the remainder of the semester's
- Week 5: Daisy Chained Motors running at the same
time; Planned but not realizable
- Full foot build
- Week 8: Daisy chained motors running within
joints running in concert, not fully assembled in the
- Still feasible and preferred so as not to hold up the mechanical team
- Week 11: Full assembly of the lower body, joints able to move
- Week 14: Full step routine for Imagine RIT
- Week 5: Daisy Chained Motors running at the same time; Planned but not realizable