Project Management
Due to the nature of this project, we are going to have to go through
many iterations of the design process. Therefore, our scheduling and
management scheme must be fluid and adaptable to cope with changing
objectives as problems (and successes) arise. Work can be divided into
two categories, Control System and Mechanical System, and objectives
can be seen below.
Control System
Complete objectives
- Communication circuit designed. (10/4/2010)
- Communication between the Microcontroller and the Servos. (10/15/2010)
- Write model and computation code for controling a tensegrity structure. (10/20/2010)
- GUI for selecting and displaying movement of the 1-Bar. (11/1/2010)
- Control Scheme implemented (not debugged) on the microcontroller.(11/5/2010)
- Achieve movement by lengthening and losening wires. (11/20/2010)
- Communication between Matlab and the Microcontroller.(11/30/2010)
- Achieve movement by using the control scheme. (12/7/2010)
- Active tension control. (2/1/2011)
- Fulling working 1-Bar. (1/17/2011)
Current Objective: Modular Communications Scheme.
- Owner: Sean
- Status: In Progress
- Completion Target: 3/22/2011
Current Objective: New and Improved Control Scheme.
- Owner: Andy, Jared, Chris, and George
- Status: In Progress
- Completion target: 3/26/2011
Future Objectives:
- Complete work on 6-Bar implementation of the control scheme.
- Work on modular aspects of the system.
Mechanical System
Completed objectives
- Prototype configuration sketches(9/30/2010)
- Prototype model and drawing package (solidworks)(10/8/2010)
- Compile Bill of Materials and order materials (10/11/2010)
- 1-bar prototype sketch (11/15/2010)
- Build 1-bar (11/19/2010)
- Determine mechanical problems that arise during 1-Bar operation (12/7/2010)
- Split rods to eliminate friction problem at distal ends of rods (1/14/2011)
- Larger spools designed for torque sensing (1/25/2011)
- Machining of pivots, rods, spools , and base plates (3/4/2011)
- Assemle stationary 6-Bar (3/5/2011)
Current Objective: Machine potentiometer holding fixtures
- Owner: Kyle, Chris, Andrew, and George
- Status: In Progress
- Completion target: 3/25/2011
Current Objective: Add load cells and potentionmeters to 6-Bar
- Owner: Kyle, Jared, Chris, Andrew, and George
- Status: In Progress
- Completion target: 3/26/2011
Future Objectives:
- Integration with Control System
- Determine range of motion for 6-Bar
- Reevaluating design and design iterations