Assignment Instructions
Identify and discuss the materials you plan to use in fabrication. Decide who will be obtaining those materials and distributing them.
Identify and Discuss the various parameters you plan to model in your simulation, including actuator modeling input signal specification mass and inertia properties link and/or joint stiffness damping friction Discuss your plans for experimentally obtaining each of those values, and the model you would like to use for describing each phenomenon.
Identify and Discuss how you plan to prototype your system and assign one person to do that
Identify and Discuss how you plan to collect system-level motion or force data, including method (IMU, video, discrete joint sensors, force/torque sensing) data extraction approach
Identify and Discuss your plan for shared simulation tasks which of you will be updating the code adding model fitting routines filtering, interpolating and otherwise massaging input data.
Finally, identify and discuss any reporting tasks that may be needed compiling information into a report (may be combined with the simulation if using Jupyter)
Split each of these tasks to the individuals on your team, and come up with at least one deliverable for each person for the remainder of the week
The remaining tasks will be assigned to the group for next week’s assignment. Prototype System/ material Motor and material of system
Spring Model: Add known weight or water to measure spring stiffness for system Base assumptions off of motor torque (weight), etc
Beam model Experiment FEA: Measure and get young’s modulus of cardstock or cardboard Run Solidworks FEA on end plate that spring or cable attaches too
Motion study experiment:
Make it set up with a rubber band or spring and a string to pull on the system.
Make markers of points of interest.
Perform motion study in tracker
Or should we do just the pendulum? A little confused on that
Actuator
Material info (density, stiffness, etc)
Prototyping
Updating dynamics code