P19229: Robotter
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Integrated System Build & Test

Table of Contents

Team Vision for Integrated System Build & Test Phase

Plans

Accomplishments

Test Results Summary

Tail System Prototype and Testing

Revised Tail CAD Assembly

Revised Tail CAD Assembly

Revised Tail Prototype

Revised Tail Prototype

Revised Tail Prototype

Revised Tail Prototype

Revised Tail Prototype

Revised Tail Prototype

Leg System Prototype and Testing

The hardware for the leg connections were updated so the the legs are sturdy enough to hold their own weight and it can successfully walk across the table. The roller blade axles were also implemented for more robust and smooth motion. While testing, we realized that the legs need to start in a certain position or they will just collapse as seen in the picture below. This will be fixed with a hard stop added to one of the leg segments. Limit switches will also be added in order for the robot to automatically set the gait before startup.
Leg Collapsing Issue

Leg Collapsing Issue

Leg Integration

Leg Integration

Hips and Spine Assembly

Spine CAD Design

Spine CAD Design

Hips and Shoulders CAD Design

Hips and Shoulders CAD Design

Final CAD Design

Final CAD Design

Printed Design

Printed Design

Velcro will connect the hips and shoulders to prevent bowing and increase overall support.

Waterproofing

Initial Silicone Adhesive was not sufficient for waterproofing the motors Air was noticeably escaping

Secondary method is to coat the motor body with Flex Seal in order to seal off any potential point of entry for the water. Two full coats were needed with emphasis around where the wires pass through the motor body.

Current Status - 3 motors passed short-term underwater performance test. Long term underwater test has not been performed yet

For the electronics box, we have picked out a 19 pin connector that is rated IP68/69K. The seal seems to be very secure for long term submergence and the plastic is overmolded to help stay more secure. We have not yet drilled through the box and installed the connector but plan to in the next week or so.

Diagram of Connector

Diagram of Connector

Risk and Problem Tracking

Changes to our Risk Assessment for this phase include:
Current Risk Assessment

Current Risk Assessment

A working copy of our risk assessment can be found here.

The problems that we ran into during this phase and our solutions can be found in the above sections.

Functional Demo Materials

Our Week 6 Functional Demo presentation can be found here.

Notes and actions items from the demo can be found here.

Bill of Materials

Our Bill of Materials can be found here: Bill of Materials

Plans for next phase

A working copy of our project plan can be found here.

Individual Plans
Jacob Huppe
Ian Kay
Jonathan Travers
Drew Meunier
Chris Ugras
Mia Garbaccio

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