P18227: Soft Robot 2.0

Preliminary Detailed Design

Table of Contents

Team Vision for Preliminary Detailed Design Phase

public/Photo Gallery/TeamVisionP3.PNG

Leg Chambers

Leg chamber prototyping began with diagramming a single chamber and determining the relationships between dimensions and setting values for known dimensions.
Leg Chamber Sketches with Preliminary Dimensions and Relationships

Leg Chamber Sketches with Preliminary Dimensions and Relationships

Using those dimensions and relationships, CAD models were made and iterated to reflect the chosen design.

Leg Chamber - Beta

Leg Chamber - Front Leg Chamber - Model Section

Leg Assembly - Beta

Leg Assembly - Section Leg Assembly - Bottom Leg Assembly - Isometric

Fluidics System

Detailed Fluidics System Schematic

Detailed Fluidics System Schematic


The Deploy/Attach system is composed of three major parts; the chassis, the locking mechanism, and the spool. The chassis has been through three prototype phases so far, the Mark III is visible below. The locking mechanism and spool design have been drawn out and will continue to get increased attention as other high risk items are taken care of.

Chassis - Mark I

Mark I Chassis - Top Mark I Chassis - Bottom

Chassis - Mark I & Mark II Sketches with Mark II Prototype

Mark I and II Chassis Sketches Mark II Chassis Prototype Print (PLA -FDM)

Chassis - Mark III

Mark III Chassis Drawings - Bottom, Top, Side

Mark III Chassis Drawings - Bottom, Top, Side

Electrical Subsystem


The power requirements of the system identified the need for 30V, 12V, and 5V supplies to power various components. To reduce cost and manage usability, we aimed to use one battery for the system. This requires power regulation for the system. The following circuit shows the use of an LM2596 DC-DC step down Buck converter.
Power Supply Circuit

Power Supply Circuit


To control the opening and closing of the 3 way valves used for the pneumatic pressurization, an isolator circuit was designed to isolate the actuation of the solenoid valve from the output of the microcontroller. The optoisolator separates the microcontroller I/O pin while the MOSFET acts as a switch to turn the valve on and off.
Valve Control Circuit

Valve Control Circuit

Since 12 valves will be used, 12 of these circuits will need to be integrated into the electrical system.


A similar circuit was constructed to turn the microcompressors on and off. The only difference between the valve and micrcocompressor control is the difference in supply voltage. The microcompressors use only the 12V supply.
Microcompressor Control Circuit

Microcompressor Control Circuit

Since the goal is to use 2 of the microcompressors, 2 of these circuits will need to be used.

RC Attachment

Remote Control Vehicle Drawing, with Tether, Spool, and Stabilizing Wheel Detailed Drawings of Tether Spool and Stabilizing Wheel

Bill of Material (BOM)

First Draft BOM Snapshot

Test Plans

Leg Chamber Test Plan Drafts
Leg Test Plans

Leg Test Plans

Risk Assessment

Our live document for risk assessment. No changes in risks have occurred since our last review.

Design Review Materials

A summary document is available for download and also will be made available in hard-copy form at our review.

Plans for next phase

As a team, we plan to have designs for all subsystems completed by our next review. This will require a more thorough look at our lower risk subsystems of communications, controls, and drive train as well as any adjustments to our current designs suggested by this review. We also plan to have all of our materials ordered and testing plans finalized in preparation for MSD II.

Individual Plans:

Role Individual Plan
Project Manager Conor McKaig
Lead Engineer Zach DiLego
Primary Electrical Engineer Cameron Taylor
Primary Software Engineer Sean Bayley
Primary Hardware Engineer Zach Hayes
Purchasing & Materials Marie McCartan
Communication & Customer Contact Jamie Mortensen

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