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Subsystem Build & Test

Table of Contents 1 Team Vision for Subsystem Level Build & Test Phase 1.1 Action Items From Previous Phase 1.2 Project Plan Update 1.3 Goals for Week 5 1.3.1 Finalize Alpha Prototype (in progress) 1.3.2 Have a completed design of our system (in progress) 1.3.3 Submit IRB Submission (completed) 2 Build And Test 2.1 Housing For Electrical Components 3 Electrical System for Alpha 3.1 Brake System 3.1.1 Mark II 3.1.2 Mark III 3.2 Improved Plate Design 4 Solidworks Models 5 Test Results Summary 5.0.1 Test Plan Timeline: 5.0.2 Testing Has Been Run on (General Testing): 6 Bill of Materials 7 Risk and Problem Tracking 8 Functional Demo Materials 9 Plans for next phase 9.1 Individual Plans 9.2 Key Milestones for Next Phase 9.2.1 Final Layout of Beta 9.2.2 Alpha Testing 9.2.3 Logistical 10 Imagine Outlook

Team Vision for Subsystem Level Build & Test Phase

Action Items From Previous Phase

Project Plan Update

Link to Document here

As stated above, by the end of MSD II we will have a rugged prototype that can be used as a robust test plat form. This prototype will be a semi-active glove that mitigates tremors.

Goals for Week 5

Finalize Alpha Prototype (in progress)

1. Attach additional Brake Assembly to to bottom of Arm. (completed)
2. Fully Attach stretch sensors. (not-completed)
3. Develop Basic Reaction Code. (completed)
4. Include Battery. (completed)

Have a completed design of our system (in progress)

1. Purchase-able objects approved in week 2-3. (completed)
2. Mechanical designs complete by week 5. (in progress)
3. Raw resources and purchasable items in BOM ready to order. (completed)

Submit IRB Submission (completed)

Build And Test

Housing For Electrical Components

Electrical System for Alpha

The changes and progress for this phase are simplified as follows. More complete descriptions of events can be found in the file here.

The preliminary code to test the systems response with the 9DOF is provided here.

1. Old MOSFET replaced with new MOSFET board
2. New MOSFET verified and installed on Alpha
3. Second magnet installed on second rail
4. Screw terminals added to Alpha
5. Trouble shooting problem with second MOSFET
6. Code to verify operation of magnet actuators
7. Wiring and electronics on alpha organized and cleaned up
8. Baseline code for magnet control based on 9DOF

Brake System

Mark II

Link to Test Results here

The good:

• This brake chassis design solved many of the small issues with the Mark I.
• It was smaller and the pieces fit together much easier.
• The crimped fishing line ran was much smother through the chassis channels.
• The springs proved to keep the metal brake pad in constant ontact with the magnet.

Needed improvement:

• The top case would sometimes slide out of position due to the force of resetting the brake pad.
• The magnet would contact the brake pad attachment points if it was pulled to far.
• The spring mounting points would not reliably hold the springs in place.
• The springs provided uneven pressure on the brake pad.

Mark III

The changes:

• The chassis was extended slightly to prevent the magnet overlapping with the brake pad attachment points.
• A 3D printed locking clamp was used to keep the top piece in its position.
• The spring mounts were redesigned to be much more sturdy.
• The springs themselves were redesigned to provide a more constant force. The four springs became two that will be bent using a 3D printed form.
• Additional room was given for mounting a return spring or band.

Improved Plate Design

Link to Document Improved Force Distribution systems here (PF Spoilers)

Solidworks Models

These models are representations of our current test model, Mark I, and the second iteration, Mark II, that we are currently working on.

Test Results Summary

Link to Document here

Test Plan Timeline:

• S1 - S5, S17, S18 - Can Be run on Alpha now
• S9 - S11, S26 - Need human subjects. Waiting on IRB approval to move forward on tests. Should hear back by March 8th.
• S12 - S14, S16, S20 - S23 - When Alpha is finished (End of Week 6) testing can begin.

Testing Has Been Run on (General Testing):

• M2 Brake on Fixture
• Basic Control Algorithm
• Crimp Hold
• Mosfet

Bill of Materials

Link to Document here

Link to Document here

Link to Document here

Risk and Problem Tracking

Link to Document here

Link to Document here

Functional Demo Materials

Link to Customer Meeting 2/7 Pre-Read here

Link to 2/24 Review Pre Read here

Link to 2/24 Review Agenda here

Plans for next phase

Individual Plans

Link to Updated Gantt Chart here

Key Milestones for Next Phase

Final Layout of Beta

1. Are we going to use an X layout or a + layout for brakes?
2. How will we attach brakes so they do not slide when brakes are active?
3. What type of battery will we use?
4. Complete initial Beta build.
5. Complete Bet CAD model.

Alpha Testing

1. General Testing
2. How will the brakes perform in different orientations (compare to normal orientations?
3. Engineering Requirements Testing.

Logistical

1. Where are we going to purchase products supplied by Amazon?

Imagine Outlook

Link to Updated Imagine Vision here

Link to Imagine Proposal Description here

Link to IRB Submission (.zip) here

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