P16227: Inflatable Robotic Hand
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Planning & Execution

Table of Contents

Intellectual Property Considerations

There are no intellectual property considerations for this project.

Team Setup

Member Degree Role
Travis Emery Mechanical Engineer External Communications
Andres Ulloa Biomedical Engineer Project Manager
Tim Kremers Mechanical Engineer Lead Engineer
Gebalanage Jayasekera Mechanical Engineer Internal Communications
Lucas Prilenski Electrical Engineer Purchasing

Inputs

  1. Skills - team and guides.
  2. Experience

Team Values and Norms

Value 3: Above Average 2: Average 1: Below Average
Open-Minded Listens to others, frequently contributes well-thought-out ideas with clarity to the team, gives and accepts honest feedback without making it personal. Team members should not take criticism personally and learn from their mistakes. Sometimes biased and ignores decisions by group consensus, and occasionally contributes to discussions. Does not contribute to group discussions, overlooks teammates’ contributions, and fails to follow decisions by group consensus.
Professionalism Respectful to teammates and customer, comes prepared for meetings, gives honest and constructive criticism as well as credit to teammates, and agrees to decisions by consensus. Sometimes disrespectful and comes to meetings and/or presentations unprepared. Comes unprepared to meetings and/or presentations, instigates conflict with other teammates, disrespectful to teammates and customer, and gives negative feedback.
Punctuality Always on time or communicates if will arrive late to meetings or has any conflicts. Sometimes late to meetings and/or communicates poorly or frequently late. Very poor communication about missing or arriving late to meetings/presentations, and frequently unreasonably late.
Responsibility Completes work on time and helps others with their work as well, exceeds expectations, and is accountable for work, decisions and results made as a team and on their own. Completes work at an acceptable level and finishes most or all work on time. Performs work at an unacceptable level and at an untimely matter, and fails to contribute with the team’s work load.
Productive /Dedicated Captured within the other four sets of values. Performs at an acceptable level and exhibits some of the four sets of values. Fails to complete work and exhibits the four sets of values at an unacceptable level.
Documentation All work done that is pertinent to the project is available to all other team members. Preferably on google drive. Most but not all work done pertaining to the project is available to other team members. Team member does not keep other team members up to date on their current work.

Inputs

  1. Team members.
  2. Guide.

Project Plans & Schedules

Phase 2: Weeks 3-6

Phase 3: Weeks 7-9

Phase 4: Weeks 10-12

Phase 5: Weeks 13-16

Inputs and Sources

  1. Team members.
  2. Template and Example.
  3. Reference doc.
  4. Guide.

Outputs and Destination

  1. Project review

Risk Assessment and Growth Curves

MSD I Phase 1: Weeks 1-3

ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
1 Hand material may puncture Will not be able to inflate, or grasp Material properties not in spec for inflation mechanism 2 3 6 Test plan will include operation at 1.5*operating pressure Gebalanage Jayasekera
2 Battery power may run out The system will not be able to reach target Insufficient charging or battery specifications 2 3 6 Purchase of battery rated for 1.5*power needed for planned 20ft test run Lucas Prilenski
3 Controller may not work for both motors and hand system Clunkier UI, not what customer prefers inability to use one central controller 1 1 1 Ensure remote controller arduino set up can handle multiple outputs and inputs Lucas Prilenski
4 Lab time and space for testing air muscles is limited Delays in building and testing of air muscles miscommunication between teams using lab 3 3 9 set up schedule for when teams work in lab Travis Emery
5 Insufficient budget for RC vehicle Failing to meet mobility requirement Strict budget constraints on components, especially motors and battery 3 3 9 Try to get donations, or shop for used but still in good condition components Lucas Prilenski
6 Pressure tubes and/or tank rupturing Air in the tubes and tank can escape and render the arm/hand system nonoperational. Parts of tube and tank can cause collateral damage not enough of a safety factor on tubes carrying high pressure air 3 3 9 Spec each high pressure component with at least a factor of safety of 2 Tim Kremers
7 RC vehicle collision RC vehicle may collide with pedestrians or inanimate objects during operation Negligence on the part of the person controlling the RC vehicle or people accidentally entering the path of the vehicle. 3 1 3 Implement vehicle autonomous emergency stop system using sensors Lucas Prilenski

MSD I Phase 2: Weeks 3-6

Added:
ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
8 Slow robotic hand inflation and deflation The time it takes the compressor to inflate and deflate might exceed the customer requirements Due to failure to maintain adequate pressure in the compressed air tank or the compressor may be unable to supply the necessary flow rate. 3 2 6 Store air at a higher pressure than required and then use a pressure regulator to control the output pressure to the desired amount. Gebalanage Jayasekera
9 Difficulty in decoding controller signal The robot (navigation and air pressure/flow control) may not respond as intended Signal degradation due to distance, and/or bad signal interpretation in the micro controller code, and/or antenna damage 3 1 3 Identify signal range Lucas Prilenski
10 Navigation drive system malfunction The gear system may become jammed and disrupt the motors and ultimately can prevent the robot from moving Can happen due to wear and tear (fatigue) and compounded misalignment 3 2 6 Regularly check the gear box. Ensure that the torque applied by the motor does not exceed the limit of the gear box. Tim Kremers

MSD I Phase 3: Weeks 7-9

Added:
ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
11 Arm damage due to vehicle motion The movement of the vehicle after the arm/hand has grasped the object could cause the arm to hit the chassis or floor, cause tear, or cause the object to drop. Initial motor knock 3 3 9 Use strong materials for the hand/arm Travis Emery

Removed:

ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
4 Lab time and space for testing air muscles is limited Delays in building and testing of air muscles miscommunication between teams using lab 3 3 9 set up schedule for when teams work in lab Travis Emery

MSD I Phase 4: Weeks 10-12

No changes

MSD I Phase 5: Weeks 13-15

Removed:
ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
6 Pressure tubes and/or tank rupturing Air in the tubes and tank can escape and render the arm/hand system nonoperational. Parts of tube and tank can cause collateral damage not enough of a safety factor on tubes carrying high pressure air 3 3 9 Spec each high pressure component with at least a factor of safety of 2 Tim Kremers

MSD II Phase 1: Weeks 1-2

No changes

MSD II Phase 2: Weeks 3-5

Added:
ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
12 Leaks in the flow loop (from tube connections) Significant air loss could reduce effect run time of the system. Compressor would also need to run longer (energy waste). Could also lead to tubes coming off of fittings. Due to high pressures, air could leak from between pipe fittings and tubing. 3 3 9 Ensure that all connections are sealed and tested to high run-time pressures Gebalanage Jayasekera

MSD II Phase 3: Weeks 6-9

Added:
ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
13 Rear wheel axle breaking Robot will become immobilized Axle not strong enough to handle the weight of the robot 3 3 9 Acquire and test axle made from stronger material or use free rotating wheel (w/o need of axle) Tim Kremers

Removed:

ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner
9 Difficulty in decoding controller signal The robot (navigation and air pressure/flow control) may not respond as intended Signal degradation due to distance, and/or bad signal interpretation in the micro controller code, and/or antenna damage 3 1 3 Identify signal range Lucas Prilenski
12 Leaks in the flow loop (from tube connections) Significant air loss could reduce effect run time of the system. Compressor would also need to run longer (energy waste). Could also lead to tubes coming off of fittings. Due to high pressures, air could leak from between pipe fittings and tubing. 3 3 9 Ensure that all connections are sealed and tested to high run-time pressures Gebalanage Jayasekera

Inputs and Sources

  1. Team members.
  2. Template and Example.
  3. Reference doc.
  4. Customer Requirements.
  5. Engineering Requirements.
  6. System and Detail Designs.
  7. Procurement, Production, and Assembly plans.
  8. Test plans.
  9. Overall Process.

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