P18229: Robotic Otter
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Systems Design

Table of Contents

Team Vision for System-Level Design Phase

During 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.

Functional Decomposition

Purpose

The functional decomposition is a flow chart displaying the intended systems and subsystems for the final prototype

Functional Decomposition Flow Chart

Functional Decomposition Flow Chart

























Benchmarking

Benchmarking Chart

Benchmarking Chart

The full, working document is here.

Concept Development

Concept Generation

Concept Generation

Feasibility: Prototyping, Analysis, Simulation

Cost Analysis

Cost Analysis

The cost analysis was based primarily on benchmarking from previous MSD teams P14029 and P15029, the alpha and beta prototypes of the robotic fish, respectively.

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?

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

Morphological Table

Morphological Table

Our working morphological table can be seen here: Morphological Table

Concept Selection

Changing Direction

Changing Direction

Buoyancy Control

Buoyancy Control

Maintaining Traction

Maintaining Traction

Moving Joints

Moving Joints

Swimming

Swimming

Transitioning

Transitioning

Walking

Walking

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.

Systems Architecture

System Architecture

System Architecture

Risk Assessment

Top 10 Risks

Top 10 Risks

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

Parameters to calculate importance

Parameters to calculate importance

Plan for Phase III

Plan for Phase III, Detailed Design Review

Plan for Phase III, Detailed Design Review

The working schedule can be found here.

Individual Three Week Plans

Team Member
Amanda
Corry
Curt
Ethan
Tiffany
Vaughn

Home | Planning & Execution | Imagine RIT

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Build & Test Prep | Subsystem Build & Test | Integrated System Build & Test | Customer Handoff & Final Project Documentation