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Team Arm’N’Geddit. Risking robots, not lives. Team Members: Kieran Jackson – EE Grant Kalfus – CPE David Meyer – ME Alex Tran – ME Linnea Weicht – ME Date of Submission: 2/18/19. Q2 Week 7 : 2/11/19 -> 2/18/19. This Week : 2/11/19-2/18/19. MAJOR CONCERNS:.
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Team Arm’N’Geddit Risking robots, not lives Team Members: Kieran Jackson – EE Grant Kalfus – CPE David Meyer – ME Alex Tran – ME Linnea Weicht – ME Date of Submission: 2/18/19
R.I.M. is now on GitHub! Repository links: https://github.com/Grant-Kalfus/RIM_UI - RIM UI https://github.com/Grant-Kalfus/RIM_PSoC_FW - RIM PSoC FW https://github.com/crazydave99/RIM_matlab - RIM Matlab Kinematics
R.I.M UI MATLAB Script Execution Using a MATLAB C# API, we were able to execute a simple MATLAB script in C#. (Used https://www.mathworks.com/help/matlab/matlab_external/call-matlab-function-from-c-client.html) C# code calling the MATLAB function with a= 3.14, b= 42.0, and c= “world” MATLAB script being run Result of running the MATLAB script
R.I.M. Improved Feedback The RIM UI now has more comprehensive feedback for motors and encoders. Each motor and encoder has its own UI status indicator. Red = Error / Disconnected Yellow = Busy / Running Green = Connected / Idle This has been fully implemented and tested working for motor and encoder 1, but we unfortunately were unable to record a video due to the SW mishap (see what went wrong? slide).
What went wrong? (Software) (Grant) – We made a lot of progress this week on the EE/CPE side. Additionally, we had tested the whole system and it was confirmed to be working. However, there was an odd quirk with the motor drivers breakout board we bought that made us wire up the SPI MOSI differently. It really wasn’t that big of a deal, but I wanted to see if we could get around it to make designing the PCB a bit easier. After reading online, I found that shorting together two surface mount pads would allow the SPI MOSI to work as expected. However, those surface mount pads were very close to the input capacitor for the motor power. I accidentally brushed the wire against the capacitor base when trying to short the two pads which caused the 12V motor power to electrically fry all connected components. I did not have a video recording of the working system… Total damage 1 stepper controller 1 encoder 2 PSoC 4 Pioneer boards The Recovery Plan I’ve ordered the encoders for the whole system with 2-day shipping. They are slated to arrive Wednesday 2/20. The motor controller that were ordered last week are slated to arrive Tuesday 2/19, with an extra board coming Thursday 2/21. I bought a PSoC 4 pioneer board with priority shipping to replace one of the burnt ones. As soon as the components arrive, I’ll rebuild the system get it working again record a video and add it to this PowerPoint presentation The Good News I had already tested the code to be working and documented the wire positions. I’ve gotten permission from some of the members of other teams to use one of their extra PSoC 4s in the case where the PSoC doesn’t arrive before or near other components. Hooking up everything again should be a quick process, and the SW will be back on track before Friday.
What went wrong? (Mechanical) (Dave) – Our shoulder platform was machined incorrectly two weeks ago, and we found out this week when we tried to start assembly. Due to this error, we are now even more behind in our assembly schedule because we are waiting on a new part to come in. Here is the error I made (likely due to my lack of sleep). Picture of my stupid mistake: (it happens) Total damage • That part is unsalvageable The Recovery Plan • Option 1: We switch which side the armature is on • Requires redesign of a few parts and changing a lot of assembly in SW • Requires machining another part again slightly different • Option 2: We re-machine the shoulder platform • We chose this option and are currently 3D printing a replacement part • Stock has been ordered to fix this mistake and remake the part The Good News • Not assembling this week gave us time to rethink our plan • We have had some major changes to forearm design to help simplify manufacturing and simplify our kinematic calculations • We have a plan for the rest of our parts regarding what will be 3D printed this quarter and what will be machined. This error gave us time to step back and look at the big picture for the quarter once again.
Inverse Kinematics (It's Working!!!!!!!!!!!!!!!!!!!!) For test case x = 300mm, y = 300mm, z = 300mm: 3D sketch of DH parameters using the angles produced by inverse kinematics. Accurate to 0.02 mm in each direction.
The Beautiful New PCB! My (Kieran’s) main issue with the first iteration of the PCB was that the power rails were too thin, I found better regulators for our needs, and the PSoC 6 footprint was straight-up unusable. I completely reworked the PCB and it’s way cleaner. I did all traces by hand, so I’m sure it will work smoothly.
Individual Status Report: Grant Kalfus Estimated Hours Week 7: 35hrs
Individual Status Report: Kieran Jackson Estimated Hours Week 7: 21
Individual Status Report: David Meyer Estimated Hours Week 7: 26
Individual Status Report: Alex Tran Estimated Hours Week 7: 15
Individual Status Report: Linnea Weicht Estimated Hours Week 7: 17
