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