Subsystem Build & Test
Table of Contents
Team Vision for Subsystem Level Build & Test PhaseDuring this phase, we were able to get the spine moving left and right. Also, we were able to see what changes needs to be made to better accommodate the motors, flex sensors, and other critical parts.
Test Results Summary
Test PlansOur active test plans progress can be found here.
Inputs & SourceSubsystem Fabrication
- The silicone spacers were made by filling the 3D printed mold with Dragon Skin. The two halves of the mold are cured separated as the 3D center pieces need to be removed after curing.
- Place the two mold halves into the vacuum chamber for 24 hours.
- Remove the 3D center pieces from the silicone.
- Make more Dragon Skin and put a small amount on the edges of the silicone on both halves.
- Press and bind the two halves of the 3D mold together (without the 3D center pieces inside).
- Place into the vacuum chamber to cure for 24 hours.
- Clean up the excess silicone as necessary and it is complete.
So far the spine fabrication consists of 3D printed small vertebrae, 3D printed large vertebrae, dragon skin spacers, .25" plywood ribs, fishing line, and micro gear motors that have a gear ratio of 298:1 and have a stall torque of 70 oz-in. Please see below for the assembly thus far.
Outputs & DestinationAt this time, our differential gear had not arrived, therefore we tested directly from the motors so we can move forward with other testing and design. Although we were able to get the spine and tail to move left and right, we still have work to do to optimize the mechanics of the spine. Please see below for videos of the spine turning left and turning right.
Bill of MaterialsCurrent Bill of Materials
Risk and Problem Tracking
A full list of our working risk assessment can be seen here: Risk Assessment
The Problem Tracking document can be seen here: Problem Tracking
Plans for next phase
MSD II Goals: