# Detailed Design ## expand\_more ## Team Vision for Detailed Design Phase Our primary objectives for this phase were to: - Update test plans - Control: motor and solenoid drivers, power supplies, controller mapping, transmission range - Navigation: motor/robot movement speed, battery life, frame weight and size - Force Actuation: mock flow loop, arm and finger - Acquire remaining parts necessary for test plans - Update schematics and flow charts for each subsystem - Come up with team and individual plans for MSD II - Prepare for the gate review [Detailed Design Phase To-Do List](https://docs.google.com/document/d/1AAWuOBI0D9z6SP53TYoBqAsZwiGURTDU_ikKs3plcr0/pub) ## Prototyping, Engineering Analysis, Simulation The following subsystems will be prototyped: ### Control System Solenoid Drivers ### Force Actuation System Arm Fingers Mock Flow Loop ## Drawings, Schematics, Flow Charts, Simulations ### Control System Motor Driver: [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Motor%20Drivers/Motor%20Driver%20Example.jpg) [Motor Driver Documentation](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Motor%20Drivers/Motor%20Driver.pdf) Power Supply: [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Power%20Supply/5V/5V%20power%20supply.png) [5V Power Supply Documentation](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Power%20Supply/5V/5V%20supply%20doc.pdf) [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Power%20Supply/24V/24V%20power%20supply%20schematic.png) [24V Power Supply Documentation](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Power%20Supply/24V/24V%20supply%20doc.pdf) Solenoid Driver: [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Solenoid%20Drivers/Solenoid%20Driver.png) Drive System [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Control%20Schemes/Drive%20Control%20Use%20Case%20Diagram.jpg) Priming of Air Flow System [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Control%20Schemes/Airflow%20Priming%20Control%20Use%20Case%20Diagram.jpg) Arm and Finger System [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Control%20Schemes/Fingers%20&%20Arm%20Control%20Use%20Case%20Diagram.jpg) Controls Preliminary Code: [Xbox controller Arduino code](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Code/Micro_Code_Draft.pdf) Controls Risk Management: [Bad User Input](https://docs.google.com/document/d/1A1YX4eHZqd2oY6M2erLTQQNqoxWpbAWvx1EJqmH9w6k/pub) ### Navigation System Feasibility: [Torque Analysis](https://docs.google.com/document/d/1n59tSEy3KwXYXqE8BD_agdMuwN0zPqPHSqfF0Mq-EmE/pub) Full Model Assembly: [](https://edge.rit.edu/edge/P16227/public/Preliminary%20Detailed%20Design%20Documents/Schematics/Entire%20Mechanical%20System/MSD%20Whole%20System.PNG) Base Model Assembly: [](https://edge.rit.edu/edge/P16227/public/Preliminary%20Detailed%20Design%20Documents/Schematics/Base%20Assembly/MSD%20Drive%20System.PNG) Upper Model Assembly: [](https://edge.rit.edu/edge/P16227/public/Preliminary%20Detailed%20Design%20Documents/Schematics/Upper%20Assembly/MSD%20Upper%20Assembly.PNG) ### Force Actuation System Feasibility: [Air System](https://docs.google.com/document/d/125_4RwohMi_IwI_1iv6Vb8NzRZyr7KpBMXp4zrvMtnY/pub) Detailed Flow Loop: [](https://edge.rit.edu/edge/P16227/public/Detailed%20Design%20Documents/Schematics/Air%20System/Detailed_Air_Schematic.PNG) Mock Flow Loop: [](https://edge.rit.edu/edge/P16227/public/Preliminary%20Detailed%20Design%20Documents/Schematics/Mock%20Flow%20Loop/mock_flow_loop.jpg) ## Bill of Material (BOM) We consolidated the BOM of each subsystem into one: [Total BOM](https://docs.google.com/spreadsheets/d/1jAY228qHyleLXtJnUuxui9H5lot047FlciPXWmsqX0M/pubhtml) ## Test Plans ### Control System [Solenoid Driver Test](https://docs.google.com/document/d/19swZWmuAJGTD6dW0QWOnQALNhVuDvjjoXqH2vHtvy1Y/pub) [Control Test Plan](https://docs.google.com/document/d/1NMOH5XDGjm8lHqiaLgzlrE-xXwZFd9opcUn927Qv5o8/pub) ### Navigation System [Motor Speed Test](https://docs.google.com/document/d/1UOUlA3kT6LnOyT-QXC9FlOJD5StJGjrZvRHJLKAfbuM/pub) [Frame Test](https://docs.google.com/document/d/1PiC93mB8LBWJ1K8lLULqEMwbw9XpIxbWJUT02_k0jow/pub) [Battery Life Test](https://docs.google.com/document/d/1HJ0-uJumxLBdnsEHRLIoFhwIk6cg5uu_ZxgR5keLfM4/pub) ### Force Actuation System [Mock Flow Loop](https://docs.google.com/document/d/17Jl48J9YDZOG8lEtIQzhO9ORpnaILcTiMvsJxSuwDh0/pub) [Arm and Fingers Test](https://docs.google.com/document/d/1O1OFpV4Fvlfyxy54LsAqsWkaGAuk6CaHZdtvSDmCH_c/pub) ## Design and Flowcharts ### Updated System Architecture 3 Subsystems: - Control System - Navigation System - Force Actuation System [](https://edge.rit.edu/edge/P16227/public/Preliminary%20Detailed%20Design%20Documents/Schematics/System%20Architecture/System%20Architecture%20v2.png) ## Risk Assessment [Updated Risk Assessment](http://edge.rit.edu/edge/P16227/public/Planning%20&%20Execution#Risk_Assessment_and_Growth_Curves)