This week, I worked on selecting the electrical components for the teleoperated gripper system. I focused on all the subsystems besides the gripper, since the team is still working on how best to measure force at the grippers and produce intuitive force-feedback. However, I have managed to lock down the BOM for all the electrical components for arm movement, including XYZ axis motors and wrist tile motors. These selections are based on quantitative use case requirements such as payload, precision and speed. I have also selected mechanical hardware such as aluminum extrusions, brackets, linear slides, and lead screws.
See my component selection notes