Posted on

Joseph Jang’s Status Report for 2/19

Most of this week was spent creating and finalizing our design decisions.  I spent my time creating the System Architecture, System States, and Electrical System Diagrams.  The CAD models of our 3 robotic links were also created by me.  I also created a parts list of everything that our team currently owns, borrowed, or needs to buy.  I will start submitting parts for order next week after our design is reviewed through our presentation.  I have also updated the Gantt Chart to show our progression and add more slack.  All these diagrams and documents are crucial for the design presentation, design report, and the next stage of development.  The creation of all these diagrams helped me consolidate design choices.  This was a particularly busy week for me as I had to complete most of the robotic arm design for the presentation.  I expect that next week will be more relaxed as I start creating the report and finalizing any design questions.   Here are the pics of what I have worked on this week.  Please look at our Design presentation slides for better quality pics.

Posted on

Joseph Jang’s Status Report for 2/12

For this week, I looked into the design of robotic arms.  I looked into the different types of robotic joints that can be used.  I will use a stepper motor for the base joint of the robot, and then use 3 servo motors, which I am still deciding between the torque of two different motors – the MG996R servo (10 kg-cm) versus the Zoskay servo (35 kg-cm).  While the Zoskay is most definitely overkill and expensive, I am curious if the weight it can handle and I also have never used it.  However, there are probably MG996R servo motors that we can borrow as a team, so it would help us save our budget.  I also ordered parts from the ECE 500 Inventory and picked them up, which are the NEMA 17 Stepper Motor,  DM542T Stepper Driver, and 2 cameras for the Jetson AGX Xavier (ARDUCAM UC-698 REV. B and  e-CAM50_CUNX/NANO) I also requested a blue crate from Techspark.  I have read over the next Design assignment guidance to help assign tasks for the upcoming design presentation.  We hope to review the system architecture with a faculty member ASAP.  But by Friday of next week, I hope to have the basic design of each major subsystem down (the robotic arm, CV algorithm, UI, and software controller), and the necessary block diagrams completed and ready to be reviewed as a team.  We will have to solidify our use case quantitative requirements, implementation plan, risk factors, metrics and validation, and system architecture.  We will also have to configure all of our electronics (Jetson AGX Xavier and the 2 cameras) in the upcoming week.