First, let me start by saying I think we are in great shape. We do need to double check each others work but it's a good problem, if there was such a thing. We got a great amount of work done, thank you to everyone.
Now going by the guidelines for our report, we still have the following items left to work on:
1c. What is the estimated speed of each joint?
3b. Direct / Inverse kinematics of the robot? (I glanced at the mathematica file but didn't study it yet. I think the forward kinematics are done but not the inverse?)
4b. Propose a material you want to use for the links.
4c. Compute all dynamic equations for the robot.
4d. Estimate the requirements for motors.
4e. What kind of sensors would you add to your robot? Where? Why?
After we are done addressing these items and write out the report, we will be DONE! Well, technically after we edit the report a couple times and re-evaluate our calculations one last time, we will be done. Go Team D!!
Well some of the questions left to answer are simple and would mainly take time and thinking (like 1c, 4e, and 4b). The rest are all tied together, so we would probably have to do them sequentially.
What do you guys think? Where should we go from here??
For 3b:
ReplyDeleteFor the inverse kinematics I am going to give it a shot by hand. MATLAB only gives numeric solutions and will not do closed form. We can use it to test the work though.
I created an excel spreadsheet for motor sizing. We need to agree on the lengths and thicknesses as well as a material (so we have a density constant) for the links before any more progress in motor sizing can happen.
ReplyDeleteBelaye is doing a great job with computing the dynamic equations for the robot and from the look of it, it wasn't easy.
Chris, you want to share what is left to write in the report? I liked what you did for part 1 in the dropbox report folder, correcting and revising things I have written to better the content. I think you and I should do the same for everything else that needs to be addressed in this blog first.
Afterwards, we can all review the report individually and collectively when we have completed all sections of the report.