P17027: Starfish Gripper
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Systems Design

Table of Contents

Team Vision for System-Level Design Phase

The purpose of the system-level design phase is to begin an analysis of high-level design concepts, and to determine the feasibility of each of the options. The intent is to brainstorm different concepts, study the feasibility of each, and use a Pugh analysis to determine which is the best option. During this phase, the team came up with several different ideas for the design of each of our subsystems, and then combined those ideas to make five different system-level concepts. Using a Pugh chart, each of the concepts was compared to the others, and the strengths and weaknesses of each were quantified. Based on that analysis, each of the best subsystems were combined to make a "best concept", which would serve as the basis for the final design. Several of the subsystems in this concept were then analyzed for feasibility using mathematical modeling and theory, and will continue to be analyzed using further physical testing.

Functional Decomposition

Functional Decomposition

Functional Decomposition

Benchmarking

Similar Product Benchmarking

Similar Product Benchmarking

Benchmarking Spreadsheet

Concept Development

To develop concepts for each function in the functional decomposition, past projects were investigated through benchmarking as shown above, and new concepts were brainstormed. From benchmarking, it appears there are a few components that remain consistent across the board, including the soft actuator type and the use of solenoid valves. Battery power is also common. Many of the solutions used in the benchmarked products have been added to the morhphological chart shown below. All other concepts were developed from brainstorming solutions to the functions. Some concepts are more radical than others, but as a team we attempted to develop an exhaustive survey of the possible solutions to each function.

All viable concepts that were developed are shown below in the morhphological chart.

Morphological Chart

Morphological Chart

Morphological Chart

Morphological Chart Spreadsheet

Concept Selection

Concept 1 Datum

Concept 1 Datum

Concept IV Datum

Concept IV Datum

Harvard Underwater Datum

Harvard Underwater Datum

Selected Concept Sketch

System IV Concept Sketch

System IV Concept Sketch

Link To Pugh Chart Spreadsheet

Feasibility: Prototyping, Analysis, Simulation

Actuator Benchmarking

Actuator Benchmarking

Actuator Benchmarking

Material Benchmarking

Materials Benchmarking

Materials Benchmarking

Pressure

Pressure Feasibility

Pressure Feasibility

Pump Power

Pump Power Feasibility Calculations

Pump Power Feasibility Calculations

Power Consumption

Power Consumption Feasibility

Power Consumption Feasibility

Battery Benchmarking

Battery Benchmarking

Battery Benchmarking

Microcontroller Benchmarking

Microcontroller Benchmarking

Microcontroller Benchmarking

Valve Benchmarking

Valve Benchmarking

Valve Benchmarking

Systems Architecture

System Architecture

System Architecture

Designs and Flowcharts

Test Plan Design

public/Systems Level Design Documents/TestPlan.PNG

public/Systems Level Design Documents/TestPlan.PNG

Plans for next phase

Individual Three Week Plan


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