Subsystem Build & Test
Table of Contents
Team Vision for Subsystem Level Build & Test PhaseFor 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 SummarySince 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:
- S19: Safety Check
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.
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 SubsystemThis 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:
Below is a snapshot of our Mechanical materials before assembly:
Muscles SubsystemThe "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:
Skin SubsystemThe 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:
Below is a snapshot of the skin sheet and its attachment materials:
Below is a snapshot of our GUI to be used for the Test Arm:
A link to this document can be found here: Code.
Risk/Problem Tracking/BOMBelow is a snapshot of our current Risk Management Document (orange highlighted risks are the ones we are most concerned about for the next phase):
- Here is the link to the current live document: Risk Management
Below is a snapshot of our current Problem Tracking Document:
- Here is the link to the current live document: Problem Tracking
Below is a snapshot of our current BOM Document:
- Here is the link to the current live document: BOM
Functional Demo Materials
- Test Plans
- Phase 3 Shared Vision
- MSD 2 Project Plan - MSP file
- MSD 2 Project Plan - PDF file