P18572: Telescope K-Mirror Array
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Integrated System Build & Test

Table of Contents

Team Vision for Integrated System Build & Test Phase

Plans

Actual Accomplishments

Test Results Summary

Mechanical

K- Mirror Final Design

K- Mirror Final Design

Feature's of the mechanical design:

Fine tuning adjustments for the two plates can be controlled by push/pull screws. There are also slotted holes to allow for movement of components.

Fine Tuning Adjustments

Fine Tuning Adjustments

The assembly of the rotating and static structure incudes a bearing that will be used to offset some of the torque load on the gearhead. This allows for the design of using a reasonably sized gearhead and a heavy load.

Cross Section of Assembly

Cross Section of Assembly

Electrical

In order to connect the wires from the encoder to the Raspberry Pi, a Raspberry Pi hat was used. A header pin connects the GPIO pins of the Raspberry Pi to the PCB. This allows the wires from the encoder to be soldered permanently to the board. This results in a secure connection that will not break when installed in the telescope assembly.

Figure 1: Raspberry Pi hat to connect encoder to GPIO pins,

Figure 1: Raspberry Pi hat to connect encoder to GPIO pins,

All of the major functions of the motor controller have been implemented. It is able to receive RS485 messages from the Raspberry Pi. This controls how fast the motor will rotate and how many steps it will turn.

Figure 2: Motor Controller operational.

Figure 2: Motor Controller operational.

The USB to RS485 board successfully packages RS485 messages from the Raspberry Pi. There were some issues with proper communication between the Raspberry Pi and motor controller initially. However once the correct serial library was installed on the raspberry pi and the correct registers in the motor controller were written to, everything became operational.

Figure 3: USB to RS485 converter outputting correct messages.

Figure 3: USB to RS485 converter outputting correct messages.

These are the limit switches which will go on the final mechanical assembly. Due to the incorrect cables being ordered, they are not able to be wired into the safety module yet. We are currently waiting for the cables to be delivered. It has been verified that the switches open their contacts at the correct angle.

Figure 4: Limit switches beginning to be wired.

Figure 4: Limit switches beginning to be wired.

This is the safety module which controls how the k-mirror system reacts in an emergency situation. The connector for the power supply is currently waiting to be delivered. Once it has arrived, we will begin programming the module as specified by the customer requirements.

Figure 5: Safety Module beginning to be wired.

Figure 5: Safety Module beginning to be wired.

This is the emergency stop button. The correct cables are waiting to be delivered. Once they have arrived, testing will be done to see if they shut the system down effectively.

Figure 6: Emergency Stop button beginning to be wired.

Figure 6: Emergency Stop button beginning to be wired.

Software

Design Review Materials

The current test plans are available for download in the following formats:

Risk and Problem Tracking

Figure 1: Risk Management Summary

Figure 1: Risk Management Summary

The current Risk Management document can be found here: Risk Management

Some of our risks have manifested themselves as problems, they can be found here: problem tracking.

Major Deadlines

Final Documentation

Future Work/Open Tasks

Team Plans

We are currently ensuring the customer has all of the required documentation to properly use our system after we are done with MSD. This entails writing documentation for each software module, properly documenting how the electrical system is wired, and ensuring the mechanical structure can be built properly. All of these documents will be stored on a Google Drive, which the customer will have full access to for future reference.

Individual Plans

Mark

Ian

Steven

Justin

Kevin

Emily

Project Timeline for MSD II

Figure 2: Project Timeline for MSD II

Figure 2: Project Timeline for MSD II


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