P18045: Tremor Mitigation Test Arm
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Detailed Design

Table of Contents

Team Vision for Detailed Design Phase

During this phase, our team planned on continuing to answer the key technical questions still left from last phase. These questions include:

In addition to this, we also planned on completing more of our CAD models and schematics. We also aimed to write more test and assembly plans to implement in MSD2.

Progress Report

Our November Progress Report can be found here.

So far this phase, we have completed more of the CAD/design work, tested the sensor, and tested the Dragon Skin material that we intend to use for our skin material.

The rest of the phase will be spent finalizing our design, completing our test plan, and answering the rest of the key technical questions we identified at the end of last phase.

Updated Documents

Updated Documents

Updated Documents

A link to the working document can be found here.

Prototyping, Engineering Analysis, Simulation

Dragonskin Analysis:

Initial Mold and Sample

Initial Mold and Sample

Final Sample

Final Sample

Dragonskin Stock Calculations

Dragonskin Stock Calculations

CAD Model of Skin (Dragon Skin) & Skin Bracket Attachments

Entire Forearm

Entire Forearm

Questions Needed to be address:

Section View:

Section View

Section View

The Holes in the "green" part is used to route the muscles for the hand actuation.

CAD Model of Components for Final Bone/Joint Design:

Bone Assembly

Bone Assembly

Moment of Inertia Analysis

MOI Calculations

MOI Calculations

2nd Iteration of the Hand Model:

Hand

Hand

Prototype Base:

Base: Overall Dim. 1.5ft x 2ft

Base: Overall Dim. 1.5ft x 2ft

Full Assembly

Full CAD Assembly

Full CAD Assembly

Drawings, Schematics, Flow Charts, Simulations

Benchmarking Sensor

Benchmarking Sensor

Benchmarking Sensor:

YouTube Video of Sensor Bench Marking

Block Diagram - Final

Block Diagram - Final

Block Diagram:

Electrical Block Diagram - Final

Electrical Block Diagram - Final

Electrical Block Diagram:

Electrical Fritzing Diagram - Final

Electrical Fritzing Diagram - Final

Fritzing Diagram:

Electrical Schmatics - Final

Electrical Schmatics - Final

Schematics:

Supination/Pronation Motor Feasibility Analysis

Supination/Pronation Motor Feasibility Analysis

Supination/Pronation Feasibility:

Flexion/Extension Motor Feasibility Analysis

Flexion/Extension Motor Feasibility Analysis

Flexion/Extension Feasibility:

Eating Motion Motor Feasibility Analysis

Eating Motion Motor Feasibility Analysis

Eating Motion Feasibility:

Motor Driver Selection Final

Motor Driver Selection Final

Motor Driver Sourcing:

Arduino Code (Part1)

Arduino Code (Part1)

Arduino Code (Part2)

Arduino Code (Part2)

Arduino Code (Part3)

Arduino Code (Part3)

Arduino Code (Part4)

Arduino Code (Part4)

Coding:

Link to Arduino Code

Moving Forward

During the detailed design review Ed wanted to see more detailed engineering work relating to the sourcing and validation of the motors and their required torques. A first order motor start time is shown above and proves that the motors start and stop time would be in accordance with a tremor motion would need. Going forward during break especially we will preform detailed Force and Torque analysis in 4-dimensions. The program Simscape Multi-body has the ability to import a 3-D model from Solidworks along with key components such as, Center-of-Mass, Mass Moment of Inertia, etc. This along with other key components can preform detailed analysis, in order to determine the necessary forces and torques for validating our motors. Simscape Multi-body an extension of MATLAB is much more powerful than Solidworks in both motion study capabilities, addition of friction/losses, and viability test.

Simscape Multi-Body Interface

Simscape Multi-Body Interface

Above is the Simscape Multi-body interface in which can be seen an imported early stage model which will be able to translate in accordance to our needs, while numerically solving kinematic equations in four dimensions with losses to adequately simulate how the our project will rotate and translate as expected.

Simscape Block Diagram for Simulating Motion

Simscape Block Diagram for Simulating Motion

Above is the block diagram automatically simulated by importing the SolidWorks model into Simscape Multi-Body, based on the constraints in the model. Blocks can and will (during break) be added to this block diagram in order to show the operation of the whole system at the same. Solving 4-D dynamics problem with losses while actuating 3 motors (2 DC and a servo) proves to be a incredibly difficult problem by hand, and still difficult with SolidWorks, but Simscape Multi-body can model this pretty easily as long as our model is constrained correctly. Solving these equations numerically while also providing 'collision avoidance' between the parts and assemblies.

Bill of Material (BOM)

The link to the live BOM is here
BOM Electrical Subsystem

BOM Electrical Subsystem

BOM Mechanical Subsystem

BOM Mechanical Subsystem

Test Plans

The link to the live document of test plans can be found here
Accuracy of Position/Acceleration Sensors

Accuracy of Position/Acceleration Sensors

Time of Movement to Mouth

Time of Movement to Mouth

Similarity of Dragonskin to Human Skin

Similarity of Dragonskin to Human Skin

Safety Shut-off Test

Safety Shut-off Test

Ability of Arduino to Control All Parts

Ability of Arduino to Control All Parts

Design and Flowcharts

Below is an image of our current design model for muscle attachment points and routing strategy.
Pronation/Supination Simple Schematic

Pronation/Supination Simple Schematic

Risk Assessment

Updated Risk Assessment

Updated Risk Assessment

Items highlighted in yellow are updates from the previous phase. Items highlighted in red are risks that were added this phase. Items that are bolded are those that are the highest risks that the team needs to focus on.

A link to the working document can be found here.

Design Review Materials

Detailed Design Review Presentation

Plans for next phase

Deliverable Completion Progress

Deliverable Completion Progress

We were able to accomplish more of some of the deliverables than we had anticipated, helping to move our project schedule up (reflected in green). The only deliverable that is a little behind at this point is the Build/Assembly Plan. This is behind because we wanted to evaluate and finalize a few more design decisions and details prior to forming our assembly plan. This will be back on track by the Gate Review next week.

Project Plan for MSD 2

Project Plan for MSD 2

We identified the major milestones for the rest of the project and laid them out across the weeks of Senior Design 2 and then further broke those down into more specific tasks for a tentative project plan for MSD 2.

A link to the working document can be found here.

Three Week Plans:

Gate Review Three Week Plans for MSDII Phase 1:


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