Team Vision for System-Level Design PhaseDuring the system design phase, basic designs and concepts were considered to create an ideal robotic otter design. This consisted of benchmarking, considering various design concepts, creating pugh charts to help with concept selection, creating systems architecture, and flowcharts.
PurposeThe functional decomposition is a flow chart displaying the intended systems and subsystems for the final prototype
Feasibility: Prototyping, Analysis, Simulation
The working cost analysis/preliminary budget can be found here.
What can the entire system weigh for the robot not to sink to the bottom while not powered? Given the generalized geometry, what is the weight required to achieve neutral buoyancy?
The working buoyancy calculations can be found here. Note it is typeset into LaTeX, so only the PDF file is available.
Morphological Chart and Concept Selection
Our working morphological table can be seen here: Morphological Table
After considering the pugh charts above, the final concept consists of legs with joints, a spine, and a tail. Walking will be done through the legs with joints, while the swimming will be performed by using the spine, tail, and legs combined. The Robotter will transition by walking into the water and the buoyancy will be controlled by air bladder. The spine will be controlled by motors and flex sensors. The legs will be controlled by servos and potentiometers.
A full list of our working risk assessment can be seen here: Risk Assessment
Plan for Phase III
The working schedule can be found here.
Individual Three Week Plans