P18229: Robotic Otter
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Integrated System Build & Test

Table of Contents

Team Vision for Integrated System Build & Test Phase

For this phase, our main goal was to get the leg and spine moving for our demo. Since our last demo, we got the differential to work with the spine, got the legs manufactured and assembled, and got the legs mounted and moving. There is still some adjustments to be made due to some interferences, as well as some adjustments to coding to optimize the leg and spine movements.

Inputs & Source

Drawings

CAD of the Large Vertebrae and Differential Mounts

CAD of the Large Vertebrae and Differential Mounts

CAD of the Foot Mold for the Silicone Feet

CAD of the Foot Mold for the Silicone Feet

Test Plans

Our active test plans progress can be found here.

Subsystem Fabrication

Feet without Silicone Spheres

Feet without Silicone Spheres

Leg Assembly, minus the silicone on the feet

Leg Assembly, minus the silicone on the feet

A single set of hips, legs and feet.

A single set of hips, legs and feet.

A single set of hips, legs and feet.

A single set of hips, legs and feet.

Full assembly as it currently stands, without the waterproof outer layer or the electronics enclosure.

Full assembly as it currently stands, without the waterproof outer layer or the electronics enclosure.

Full assembly as it currently stands, without the waterproof outer layer or the electronics enclosure.

Full assembly as it currently stands, without the waterproof outer layer or the electronics enclosure.

Outputs & Destination

Test Results

One leg moving, attached to the spine, but without being moved by the servos - click on the above image to view the test in action

One leg moving, attached to the spine, but without being moved by the servos - click on the above image to view the test in action

One leg fully assembled, demonstrating the motion - click on the above image to view the test in action

One leg fully assembled, demonstrating the motion - click on the above image to view the test in action

One moving leg, powered by the servos - click on the above image to view the test in action

One moving leg, powered by the servos - click on the above image to view the test in action

One moving differential gearbox - click on the above image to view the test in action

One moving differential gearbox - click on the above image to view the test in action

The differential gearbox moving the spine - click on the above image to view the test in action

The differential gearbox moving the spine - click on the above image to view the test in action

One moving leg, powered by the servos, with the new pulley - click on the above image to view the test in action

One moving leg, powered by the servos, with the new pulley - click on the above image to view the test in action

The speed of the legs increasing in speed, as controlled by the RC controller - click on the above image to view the test in action

The speed of the legs increasing in speed, as controlled by the RC controller - click on the above image to view the test in action

Bill of Materials

Current Bill of Materials
Bill of Materials

Bill of Materials

Risk and Problem Tracking

Risk Assessment

Top 20 Risks

Top 20 Risks

A full list of our working risk assessment can be seen here: Risk Assessment

Parameters to calculate importance

Parameters to calculate importance

Problem Tracking

Problem Tracking

Problem Tracking


The Problem Tracking document can be seen here: Problem Tracking

Plans for next phase

MSD II Goals:

MSD II Goals

MSD II Goals


Individual Goals

Team Member
Amanda
Corry
Curt
Ethan
Tiffany
Vaughn



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