P18227: Soft Robot 2.0/public/
Preliminary Detailed Design
Table of Contents
Team Vision for Preliminary Detailed Design Phase
Leg ChambersLeg chamber prototyping began with diagramming a single chamber and determining the relationships between dimensions and setting values for known dimensions.
Using those dimensions and relationships, CAD models were made and iterated to reflect the chosen design.
Leg Chamber - Beta
Leg Assembly - Beta
Deploy/AttachThe 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
Chassis - Mark I & Mark II Sketches with Mark II Prototype
Chassis - Mark III
PowerThe 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.
ControlsTo 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.
MicrocompressorsA 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.
Since the goal is to use 2 of the microcompressors, 2 of these circuits will need to be used.
Bill of Material (BOM)
Test PlansLeg Chamber Test Plan Drafts
Risk AssessmentOur live document for risk assessment. No changes in risks have occurred since our last review.
Design Review MaterialsA summary document is available for download and also will be made available in hard-copy form at our review.
Plans for next phaseAs 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.
|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|