Customer Handoff & Final Project Documentation
Table of Contents
Team Vision for Final Demo and HandoffSummarize: We planned to integrate our walking and swimming systems onto the body and be able to switch between the two modes of transport by using the RC controller. We also planned to build our exhibit which consisted of a flat platform and a ramp that lead into a small pool filled with water.
We were able to accomplish all of these goals however several components broke the week before Imagine RIT which limited its final functionality.
Test Results Summary
Inputs & Source
Test PlanIn order to test the entire system we built a 6 foot long flat platform connected to a 2 foot long ramp that lead down into a pool filled with water. This would allow us to walk the robotter down the ramp and then slide it into the pool where it would be able to switch to swimming mode.
Results of system integrationWe were able to attach the tail and legs onto the body of robotter and integrate both walking and swimming modes onto an RC controller that controls robotter. The electronics are housed inside a waterproof box that attaches to the spine via velcro straps. The wiring feeds out of the box to the servos through a waterproof connector that can be easily detached from the box for ease of access to the electronics. Finally, an aesthetic covering was made to hide the skeleton and electronics as well as to make it look like an otter.
Outputs & Destination
Test ResultsWe were able to achieve swimming in a straight line for several feet. However, two days before Imagine RIT the front tail servo broke and it was no longer able to swim. We were also able to walk in a straight line however after a few seconds of operation the legs would become out of sync and not allow for forward motion. We tried to fix this issue by using limit switches to give us position feedback but did not have time to implement them into our final code. We were also able to successfully switch from walking to swimming modes via the RC controller.
Risk and Problem Tracking
- Update your Risk Management. At this point, your risks should all have been driven to 0.
- Update your problem tracking.
Final Project Documentation
The CAD documents are up to date.
The BOM is up to date with all the components used and their prices. It can be found in the Final Documents Folder
- Budgetary issues!!! We did not anticipate the shipping costs and this added up when we needed to buy replacement/extra parts.
- Start building/testing ASAP! The MSD schedule is not conducive to that, but you can still start early
- Document everything the FIRST TIME. It is easier to have the videos right away compared to re-doing tests with a camera out.
- Prepare for systems integration early. We ran into problems there. Our sub systems were very effective on their own, but our integration struggled.
- For the linkages, we recommend stronger materials over just plastic, ie aluminum.
- Use rubber spaces instead of plastic connect pieces because it will keep the segments closer together
- Implement the control scheme to keep all of the rotations in sync.
- Mount the servos more sturdily to the body
- The design is capable of having different style of legs such as a two jointed legs.
- Re-design the pieces for assembly and disassembly, using things like screws and bolts to prevent the need for superglue.
- Reduce the mass of the tails wherever possible. The overhanging caused problems with leg movement
- The servos broke internally at the end of the spring semester. We believe the excessive mass may have shorted the motor, but the problem remains unresolved.
- Reduce tolerance between the mount on top of the servo and the shaft.
- Lower center of gravity
- Print at 2mm+ shell thickness to prevent water leaks on parts. If it is too small, there will be gaps in the plastic
- Wiring could be cleaner
- You could include a BUC to manage multiple voltage levels, but it is not necessary
- Using a connector to interface between inside/outside of fishing box was effective. Waterproof shrink wrap was also very useful
- Finding waterproof servos is difficult!
- We outlined our method for DIY servo waterproofing. This took time some learning, so use some cheap servos to practice!