Power and Control Systems
The power and control systems were integrated first since they work so closely with one another. A DC power supply was used to power the circuitry while testing. The gaming controller was operated while a multimeter was used to measure the output from the power board. Each function was tested and any issues were identified and corrected in this manner. Once it was confirmed that the controls were outputting the expected response, the power and control systems were integrated with the other subsystems.
Flow Loop, Power, and Controls
The power and controls were then integrated into the flow loop. The loop was pressurized using an external air compressor and then actuated using the various controls. Power loss testing was also performed to ensure the system would operate safely in the occurrence of sudden power loss. Since the tank was operating at much higher pressures than the arm or finger and the solenoid valves were normally open valves, it needed to be ensured that power loss would not cause the arm and fingers to rapidly inflate. To ensure this, the 4-way valve was setup so that in the even of a power loss, the arm and fingers would not be connected to the air tank. Instead both would release to the atmosphere. The next testing was performed to make use of the pressure transducers. The transducer were used as a feedback system to close off the solenoid valve if the pressure transducer reached a critical pressure. Doing so also allowed the pressure regulators to be used as a means of controlling the flow rate into the arm and fingers and the sensors to be used as a means of ensuring the arm and fingers weren't over-pressurized. The pressure transducer attached to the air tank was also used as a regulation system. Once the sensor reach 100psi, the compressor could be automatically turned off. Once it reach a minimum pressure it could also be turned on. Precautions were taken when programming the controls to ensure the arm and fingers could not be actuated when the compressor was running.
Object Manipulation Integration
Once the flow loop, controls, and power systems were combined, the object manipulation could also be integrated. Once the arm and fingers were mounted and the air tubes connected, the reach and strength of the arm was tested. An issue was found during testing in that the fingers made the arm top heavy and thus difficult to control. To overcome this, a 14 gauge solid copper wire was run down the center of the arm. The wire provided the added support needed to keep the arm upright when extended.