Subsystem Design

Team Vision for Subsystem-Level Design Phase

Our primary objective in this phase was to prototype and analyze our 3 subsystems which were the Control, Navigation, and Force Actuation. For each subsystem, we came up with different proof-of-concepts for different designs, which we then benchmarked and chose the best design to move forward with.

Control: H-bridge, Motor drivers, Solenoid drivers,

Navigation: Motors, Chassis, Wheels, Gearbox, BOM

Force Actuation: Solenoid valves, Flow loop design, Arm designs, Hand, BOM

Sub-Subsystem Design & Engineering Requirements

Feasibility: Prototyping, Analysis, Simulation

Control:

Micro-controller:

• considered PWM requirements
• MSP430

Peripherals:

• Drivers
  • 
  • solenoid drivers
  • motor drivers
  • compressor driver

Power Regulators:

• Power Supplies
  • 

Navigation:

Locomotion:

• motors
  • CIM
  • Pololu 100:1 gear motor
• wheels
  • Pololu wheels
• gearbox

Structural: 

• frame (2ft x 2ft)

Force Actuation:

Arm:

• 2 arm designs considered
  • 4 Channel Arm (4ChA)
  • Slinky Arm (SA)
• preliminary prototyping of 4 Channel Arm (4ChA)
  • mold being made
  • 
  • material considerations: Smooth-On Ecoflex 0030, mold-star

Finger:

• 1 finger design considered
  • PneuNets Bending Actuator (PNBA)
• preliminary prototyping of PNBA has begun
  • prototype part made

Pressure Distribution:

• Flow loop designed (schematic below)

• Solenoid valves tested
  •  
• Pressure regulators tested
  • 

Inputs and Source

1. Engineering Requirements
2. Concept Selection
3. System Architecture

Outputs and Destination

1. A list of Design Parameters, Quantified Targets, and acceptable tolerances
2. Sensitivity analysis
3. Concept Selection

Drawings, Schematics, Flow Charts, etc.

Air System Schematic

• A, B, C, D, E - one-way solenoid valves
• F - two-way solenoid valve

Valve Positioning:

• 1 (power on - valve closed)
• 0 (power off - valve open)

Bill of Materials (BOM)

Navigation:

Air System:

Risk Assessment

Updated Risk Assessment