# Problem Definition & System Design ## expand\_more ## Team Vision for Problem Definition Phase The project objectives were elaborated in detail to come up with a problem definition which satisfies all parties. Customer interviews were held, and engineering requirements were drafted. House of quality analysis was performed and use case scenarios were drafted. ## **Project Definition** An Inflatable Robotic Hand is a portable, mountable device that can inflate, manipulate an object, and deflate remotely. The system will be house in a container mounted on a RC car. This device will utilize some of the same principles, specifically the air muscles, used in previous RIT senior design projects [P14253](http://edge.rit.edu/edge/P14253/public/Home), [P09023](http://edge.rit.edu/edge/P09023/public/Home), [P08023](http://edge.rit.edu/edge/P08023/public/Home), and [P08024](http://edge.rit.edu/edge/P08024/public/Home). This project will add the ability of inflating out of a small container. The goals of this project are to analyze previous air muscle designs, and other inflatable robot technologies, to identify an opportunity to combine these ideas into one product. The expected results is a functional prototype that can be applied to the task. The prototype must use air for generating actuation forces while resembling a hand with a minimum of three fingers. [1 Page Project Summary](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/Project_Summary.doc) ## **Use Case** ![Use Case Scenario Flow Chart](/sites/g/files/omnuum4601/files/srt_competition_2016/files/usescenarioflowchart.jpg) Shows use case where user picks up a tennis ball## **Project Goals & Key Deliverables** - The arm, hand, and vehicle can be remotely controlled by user - Pick up a tennis ball - Mounted on an RC vehicle - Inflate out from a compartment - Actuation force is produced by air muscles ## Customer Requirements (Needs) ### Purpose To decompose the Problem Statement into functions of elements needed to satisfy the customer. ### Customer Requirements SortRqmt # Importance Description C001 9 Must use air for inflation and actuation forces C002 9 Must be able to pick up a tennis ball up to 2 in off the ground C003 9 Must resemble a hand or fingers C004 9 Must inflate from a container housed on an RC vehicle C005 3 Must deflate fully back into the container C006 9 Must be remote controlled C007 9 Material selection must withstand inflation/deflation cycles without popping or tearing C008 3 Use a single controller to control both the robotic arm and the RC vehicle C009 3 Prototype and final model must be built with a $750 budget C010 3 Move object (tennis ball) from one location to another C011 1 Mounted camera for targeting and navigation ### **Inputs** 1. [PRP](https://edge.rit.edu/edge/P16227/public/P16227.docx) 2. [Problem Statement](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/Problem_Definition_Statement.html) 3. [Customer Interviews](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/Customer_Interview_1.html) 4. Art North & Dr. Lamkin-Kennard. ### **Outputs** [Customer Requirements](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/Customer_Requirements.html) ## Engineering Requirements (Metrics & Specifications) ### Purpose Create a contract between the engineer and the customer where indisputable satisfaction of the engineering requirements equates to customer satisfaction ### **Engineering Requirements:** SortRqmt # Importance Engineering Requirement Unit Target Value Marginal Value 001 1 Air compressor power psi > 120 100 002 9 Air compressor flow rate scfm > 0.88 0.3 003 9 Inflation time sec < 2 5 004 3 Deflation time sec < 10 15 005 3 Inflation arm reach in > 6 4 006 1 Object lift distance in > 6 4 007 9 Hand grip strength psi > 20 15 008 3 Stored air volume ml > 1200 200 009 3 Stored air pressure psi < 100 80 010 9 Number of fingers on robotic hand units = 3 3 011 9 Battery life min > 90 30 012 3 Chassis load weight capacity lb < 40 120 013 9 Chassis surface mount area in^2 < 24x24 30x30 014 3 Arm container cross-sectional area in^2 < 6x6 8x8 015 1 Arm container height in < 8 10 ### Inputs and Source 1. [PRP](https://edge.rit.edu/edge/P16227/public/P16227.docx) 2. Dr. Lamkin-Kennard 3. Art North ### Outputs and Destination 1. HoQ ## Constraints ### From Customer Requirements - Inflation mechanism must use air only - Robotic arm and hand must fit inside a small container ### From Engineering Requirements - Weight of robotic arm, air compressor, tank, and control systems must not exceed chassis weight capacity - Must have large enough power source to supply power to the motors, compressors, and control systems ## House of Quality [](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/HoQ.PNG)[](https://edge.rit.edu/edge/P16227/public/Problem%20Definition%20Documents/HoQ_Legend.png)### Inputs and Source 1. [PRP](https://edge.rit.edu/edge/P16227/public/P16227.docx) 2. Customer Requirements 3. Engineering Requirements 4. Benchmarking Data ### Outputs and Destination Design phase ## Team Vision for System-Level Design Phase Our plan was to develop the functional decomposition of our system, come up with possible solutions, and out line the system architecture. We also planned on benchmarking the different components and analyzing the feasibility. We were able to complete all of the tasks we set forth to do for this phase. ## Functional Decomposition [](https://edge.rit.edu/edge/P16227/public/Systems%20Level%20Design%20Documents/Functional%20Decomposition.jpg) ## Benchmarking [Benchmarking](https://docs.google.com/spreadsheets/d/1GwkOKXUzteE8qcuo4OBeqyelhCJlRof2Prj_KeC2WYA/pubhtml) ## Morphological Chart and Concept Development [Morphological Chart](https://docs.google.com/spreadsheets/d/1yuv6D_drf-uFyElMS6DeJlQOnH5xn_NVZosi7raIHR0/pubhtml) ## Concept Selection [Concept Selection & Pugh Chart](https://docs.google.com/spreadsheets/d/1ZTVxypVc40-gfzEtdKXBvyrZdMNRRqZ7K9COZzKTXMw/pubhtml) ## Systems Architecture [](https://edge.rit.edu/edge/P16227/public/Systems%20Level%20Design%20Documents/System%20Architecture.JPG) ## Feasibility: Prototyping, Analysis, Simulation [Feasibility](https://docs.google.com/document/d/1mSlaVnqUB0X5WwMLObM71FziLTHamNcptQnN1vEUAIs/pub) ## Risk Assessment [Updated Risk Assessment](http://edge.rit.edu/edge/P16227/public/Planning%20&%20Execution#Risk_Assessment_and_Growth_Curves)