25Jan2016 Update AND 2-01-16

Team Incurve completed its design review and received feedback. Improves were a better electrical diagram, focus on getting robot to work and to dedicate more time to programming. Sustains include reaction to IT problems, responses to questions and over implementation plan. We also put the first purchase order for the electronics modules.

To do:
Better electrical diagram that includes protocols and pin connections
Select and purchase motors
Start coding simple programs such as a PWM and serial connection for familiarization
Start building and testing power source for BeagleBone Black
Determine when the next design review is going to be

( 2-01-16)
{
To do:
We need the EE diagrams that includes protocols and pin connections
Buy motors and work on CAD ( good to go)
Work on code so it can be moved on the THE BBB
Work on BBB and test parts ( good to go)

Fix charts and flowcharts
Work on sytem integration
Get comm. from BBB to code ect.
By Dan Cohen
}

Incurve Robotics
Today we outlined the redesign of the robot, reviewed and updated the semester's Gantt Chart, and started to decide on bench parts and parts to be ordered.
The goals of this next week are:

•  To complete the redesign for the Design Review on Wed 1/20
•  Start ordering and gathering parts
•  Familiarize the team with programming in Python

Final CAD Rendering of the Incurve Spherical Robot

Below is a rendering of the final design of the Incurve Spherical Robot. The shell is rendered as transparent in order make the internal mechanisms viewable.

Final Design Presentation

The Incurve team has completed the first half of their senior design capstone project. The presentation of all design elements of the Incurve Spherical robot are discussed in the video below.

Dynamic Simulation

We have completed a simulation program based on the derived dynamics of the robot. When the mechanical design is completed it will be imported into the software. The various controllers can now be developed and tested within the simulation.

Initial Design Explorations

We have been developing multiple CAD models of the robot system. Here are a few early versions where the pendulum does not have a full 360 degree range of motion from side to side.

We have since moved away from this system in favor of an omnidirectional capable design. We'll post those models soon.

Wooden Pendulum Structure (Gabe Bentz, 2015)

A plywood pendulum structure. Considered for its cost and manufacturing benefits was one early direction based off of the initail conceptual design. though, chunkier, it ensured that all budget constraints would be met. 

Hybrid Material Linear Actuator Design (Gabe Bentz, 2015)

A complete pendulum mechanism composed of aluminum and wood was later created. This system utilized a linear actuator to attain the side motion of the pendulum. It was going to use the actuator to pull cables which would swing the pendulum from side to side. This methodology put the weight of the motor used for side to side motion at the end of the pendulum which helped ensure the pendulum bob had the mass requirements to provide enough torque

The complete system can be viewed below inside of a complete sphere (The material of the Sphere is carbon fiber, the material was modified in CATIA in order to make it transparent)

Complete system for simulation with a Carbon Fiber Sphere (Gabe Bentz, 2015)

 All of these designs were rejected in favor of an omni-directional system, so none were completely detailed.

Final Conceptual Design Document

Incurve Robotics has completed is final conceptual design document. This documents outlines the general system the team will pursue to meet the requirements.

This document can be found at Incurve Conceptual Design Document

The team will spend the next week completing the specifications document for the system.