P18045: Tremor Mitigation Test Arm
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Subsystem Build & Test

Table of Contents

Team Vision for Subsystem Level Build & Test Phase

For this phase we planned to build each of our subsystems. We wanted to construct the bones and joints, construct the base, test the sensors and motors, cure skin material, and mark out locations for sensors and muscles on the arm. We also wanted to continue to make as much progress as possible with the electric and controls subsystems because the sooner we can get those finished, the sooner we can get help with troubleshooting them.

We did not expect to be able to assemble the subsystems together, just expected to have them mostly built individually so that we can confirm that they work the way we intended them to (i.e. does the elbow move as expected, do the motors work as expected, does the skin cure in the right shape/thickness, etc.).

Test Results Summary

Since most of our tests involve the assembly of the entire system, only a few of the Tests from our Test Plan were able to be tested.

The link to the live document can be found here: Test Plans

Below is a list of the Test Plans completed during this Phase:

Safety Switch Test

Safety Switch Test

Results: the signal cuts off in approximately 1 second using our safety switch.

Conclusion: The implementation of this safety switch effectively allows us to cut the circuit and stop current from flowing to the test rig.

S3-Wrist Rotation Ability- with only the bones assembled The ideal requirement for this test was 90 degrees in both directions.

Rotation Test

Rotation Test

These results show that the bones allow for the ideal amount of rotation on their own. The test will be re-run as parts are added to make sure that the requirement is still met.

The rest of the test plans will be completed during Phase 3.

Mechanical Subsystem

This phase, we spend a lot of time assembling the main mechanical subsystem and manufacturing all necessary parts based on our CAD model. This included 3D-printing parts, as well as manufacturing metal parts in the machine shop.

Below is a snapshot of our CAD:

CAD Model

CAD Model

Below is a snapshot of our Mechanical materials before assembly:

Assembly Parts

Assembly Parts

Muscles Subsystem

The "muscles" have been sourced and ordered. These supplies will be arriving within the next week.

Below is a snapshot of our custom-length pulley method:

Custom Length Pulley

Custom Length Pulley

Skin Subsystem

The forearm skin sheet has been made during this phase. The required materials to attach to the forearm have been sourced and gathered and will be utilized during the next phase.

Below is a snapshot of the recipe for making one skin sheet:

Skin Sheet

Skin Sheet

Below is a snapshot of the skin sheet and its attachment materials:

Skin Sheet

Skin Sheet

Electrical/Controls Subsystem

Below is a snapshot of our GUI to be used for the Test Arm:

Test Rig Code

Test Rig Code

A link to this document can be found here: Code.

Risk/Problem Tracking/BOM

Below is a snapshot of our current Risk Management Document (orange highlighted risks are the ones we are most concerned about for the next phase):
Risk Management

Risk Management

Below is a snapshot of our current Problem Tracking Document:

Problem Tracking

Problem Tracking

Below is a snapshot of our current BOM Document:

BOM Electrical

BOM Electrical

BOM Mechanical

BOM Mechanical

BOM Shipping

BOM Shipping

Functional Demo Materials

Plans for next phase

Below are links to our team and individual 3-Week Plans:

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